Diff: main.cpp

Revision:

13:35f55464048e

Parent:

12:b87a1e165fb8

Child:

14:cfe1311a63f0

--- a/main.cpp	Mon Apr 19 09:37:44 2021 +0000
+++ b/main.cpp	Thu May 06 11:52:53 2021 +0000
@@ -22,29 +22,32 @@
 
 /* create analog input object */
 AnalogIn adc_vbat(ADC_VBAT);
-AnalogIn analogIn(PC_2);
-float    dist = 0.0f;
+DigitalIn digitalIn(D5);
+AnalogIn analogIn(PA_1);
+
+float    movement = 0.0f;
 float    batt = 0.0f;
 
 /* create enable dc motor digital out object */
 DigitalOut enable_motors(PB_15);
 /* create pwm objects */
-FastPWM pwmOut_M1(PB_13);
+//FastPWM pwmOut_M1(PB_13);
 FastPWM pwmOut_M2(PA_9);
-FastPWM pwmOut_M3(PA_10);
+//FastPWM pwmOut_M3(PA_10);
 double  Ts_pwm_s = 0.00005; // this needs to be a double value (no f at the end)
 /* create encoder read objects */
-EncoderCounter  encoderCounter_M1(PA_6, PC_7);
+//EncoderCounter  encoderCounter_M1(PA_6, PC_7);
 EncoderCounter  encoderCounter_M2(PB_6, PB_7);
-EncoderCounter  encoderCounter_M3(PA_0, PA_1);
+//EncoderCounter  encoderCounter_M3(PA_0, PA_1);
 /* create speed controller objects, only M1 and M2, M3 is used open-loop */
 float counts_per_turn = 20.0f*78.125f; // counts/turn * gearratio
 float kn = 180.0f/12.0f;               // (RPM/V)
 float max_voltage = 12.0f;             // adjust this to 6.0f if only one batterypack is used
-SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwmOut_M1, encoderCounter_M1);
+//SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwmOut_M1, encoderCounter_M1);
 SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwmOut_M2, encoderCounter_M2);
 
-
+/* analog output */
+ AnalogOut BatteryLED (PA_5); 
 
 
 int main()
@@ -56,58 +59,71 @@
     /* enable hardwaredriver dc motors */
     enable_motors = 1;
     /* initialize pwm for motor M3*/
-    pwmOut_M3.period(Ts_pwm_s);
+    //pwmOut_M3.period(Ts_pwm_s);
     /* set pwm output zero at the beginning, range: 0...1 -> u_min...u_max */
-    pwmOut_M3.write(0.5);
+    //pwmOut_M3.write(0.5);
 
-
+float movementold = 0;
     while (true) {
         batt = adc_vbat.read()* (3.3f/AUFLOESUNG);
         loop_timer.reset();
 
         /* ------------- start hacking ------------- -------------*/
 
-        if (executeMainTask) {
+    
+movement = roundf(analogIn.read()*1.2);
+// if ( movement > 1) movement = 1;
+// else movement = 0;
 
             /* read analog input */
-            dist = analogIn.read() * 3.3f;
-
+          BatteryLED = 1; 
+            //ceil()
+            if (movementold > movement)//WIP
+            {
             /* command a speed to dc motors M1 and M2*/
-            speedController_M1.setDesiredSpeedRPS( 2.0f);
- //           speedController_M2.setDesiredSpeedRPS(-0.5f);
+            //speedController_M1.setDesiredSpeedRPS( 2.0f);
+            speedController_M2.setDesiredSpeedRPS(2.0f);
+             enable_motors = 1;
+             
+              thread_sleep_for(3000);// int Wert in ms
             /* write output voltage to motor M3 */
-            pwmOut_M3.write(0.75);
-
+            //pwmOut_M3.write(1.0);
+            }
         
             /* visual feedback that the main task is executed */
-            led = !led;
+           
 
-        } else {
+         else {
+
+            //movement = 0.0f;
 
-            dist = 0.0f;
-
-            speedController_M1.setDesiredSpeedRPS(0.0f);
- //           speedController_M2.setDesiredSpeedRPS(0.0f);
-            pwmOut_M3.write(0.5);
+           // speedController_M1.setDesiredSpeedRPS(0.0f);
+         //  speedController_M2.setDesiredSpeedRPS(0.0f);
+  //       BatteryLED = 0;
+            enable_motors = 0;
+         //   pwmOut_M3.write(-1);
 
            
 
             led = 0;
         }
+         led = !led;
 
         /* do only output via serial what's really necessary (this makes your code slow)*/
-        printf("%3.3f, %3.3f\n, %3d, %3.3f, %3.3f;\r\n",
-               dist,
+        printf("%3.3f\n, %3.3f\n,  %3.3f;\r\n",
+               movement,
                batt,
-               encoderCounter_M3.read(),
-               speedController_M1.getSpeedRPS(),
+               //encoderCounter_M3.read(),
+               //speedController_M1.getSpeedRPS(),
                speedController_M2.getSpeedRPS());
 
         /* ------------- stop hacking ------------- -------------*/
 
-        int T_loop_ms = duration_cast<milliseconds>(loop_timer.elapsed_time()).count();
-        int dT_loop_ms = Ts_ms - T_loop_ms;
-        thread_sleep_for(dT_loop_ms);
+        //int T_loop_ms = duration_cast<milliseconds>(loop_timer.elapsed_time()).count();
+        //int dT_loop_ms = Ts_ms - T_loop_ms;
+        //thread_sleep_for(dT_loop_ms);
+        thread_sleep_for(10);
+    movementold = movement;
     }
 }