Diff: main.cpp

Revision:

14:bbef6e8956dc

Parent:

13:c4e80f6e7113

--- a/main.cpp	Tue Apr 28 14:26:30 2015 +0000
+++ b/main.cpp	Tue Apr 28 15:34:41 2015 +0000
@@ -1,7 +1,7 @@
 #include "mbed.h"
 #include "C12832_lcd.h"
 
-#define P_GAIN 0.9999
+#define P_GAIN 0.999
 
 DigitalOut Dir(p21);
 PwmOut Step(p22);
@@ -17,27 +17,46 @@
 DigitalIn Down(p12);
 int main()
 {
-    float setpoint = 2000; //Frequentie 
-    float step_freq = 1;
+    float setpoint = 10000; //Frequentie 
+    float step_freq1 = 1;
+    float step_freq2 = 1;
+   
     MS1 = 1;
     MS2 = 0;
     MS3 = 0;
-    float p1;
-    float p2; 
+    //float p1;
+    int p2; 
     
 
-    Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
+    Step.period(1.); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
     Step.write(0.5); // Duty cycle van 50%
-   // Dir = Pot1; // Dir 1 is naar boven, Dir 0 naar onder.
+    Dir = Pot2; // Dir 1 is naar boven, Dir 0 naar onder.
     while (1) {
-        p1 = Pot1.read();
-        Dir = Pot1;
-        float new_step_freq;
-        new_step_freq = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq);
-        step_freq = new_step_freq;
-        Step.period(1.0/step_freq);
-        lcd.printf("Pot1 : %f \n", p1);
-        wait(1); //Hier nog ticker inbouwen
+        
+        p2 = Pot2.read();   
+        float new_step_freq1;
+        float new_step_freq2;
+        
+        if (Dir = 1){
+        step_freq2 = 1;
+        new_step_freq1 = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq1);
+        step_freq1 = new_step_freq1;
+        Step.period(1.0/(step_freq1));
+        //lcd.printf("Snelheid : %f Hz\n", p1);
+        lcd.printf("Richting : %d \n", p2); 
+        wait(0.01); //Hier nog ticker inbouwen
+        }
+        if (Dir = 0) {
+        step_freq1 = 1;
+        new_step_freq2 = ((1-P_GAIN)*setpoint) + (P_GAIN*step_freq2);
+        step_freq2 = new_step_freq2;
+        Step.period(1.0/(step_freq2));
+        //lcd.printf("Snelheid : %f Hz\n", p1);
+        lcd.printf("Richting : %d \n", p2); 
+        wait(0.01); //Hier nog ticker inbouwen
+        
+        }
+        
 
     }
 }
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