Diff: main.cpp

Revision:

2:11076f69e0a7

Parent:

1:97d6b160f708

Child:

3:dcc4cebba0d7

--- a/main.cpp	Tue Oct 21 13:24:23 2014 +0000
+++ b/main.cpp	Tue Oct 21 13:48:51 2014 +0000
@@ -10,13 +10,14 @@
 
 #define M1_PWM PTC8 //blauw
 #define M1_DIR PTC9 //groen
-#define M2_PWM PTA5
-#define M2_DIR PTA4
+#define M2_PWM PTA5 //blauw
+#define M2_DIR PTA4 //groen
 
-
+//#define POT_AVG 50
 void clamp(float * in, float min, float max);
 float pid(float setpoint, float measurement);
 volatile bool looptimerflag;
+//float potsamples[POT_AVG];
 HIDScope scope(6);
 
 void setlooptimerflag(void)
@@ -28,14 +29,22 @@
 {   //Let op dat de jumpers goed staan als het motortje niet wilt draaien. De E1 jumper moet onder de nummer 7 pin. De locatie van de M1 pin
     //bepaalt of de motor CW of CCW draait. 
     //start Encoder-> first pin should be PTDx or PTAx, second pin doesn't matter
+    AnalogIn potmeter(PTC2);
     Encoder motor1(PTD3,PTD5); //wit, geel
-    /*PwmOut to motor driver*/
-    PwmOut pwm_motor(M1_PWM); // PTC8, blauw
-    //10kHz PWM frequency
-    pwm_motor.period_us(75);
-    DigitalOut motordir(M1_DIR); //PTC9, groen
+    PwmOut pwm_motor1(M1_PWM); // PTC8, blauw,  /*PwmOut to motor driver*/
+    pwm_motor1.period_us(75); //10kHz PWM frequency
+    DigitalOut motordir1(M1_DIR); //PTC9, groen
+    
+  
+    Encoder motor2(PTD2, PTD0); //wit, geel
+    PwmOut pwm_motor2(M2_PWM); //PTA5, blauw
+    pwm_motor2.period_us(75);
+    DigitalOut motordir2(M2_DIR); //PTA4, groen
+    
     Ticker looptimer;
     looptimer.attach(setlooptimerflag,TSAMP);
+    
+    
     while(1) {
         int16_t setpoint;
         float new_pwm;
@@ -53,10 +62,16 @@
         // ch 1, 2 and 3 set in pid controller */
         scope.send();
         if(new_pwm < 0)
-            motordir = 0;
+            motordir1 = 0;
         else
-            motordir = 1;
-        pwm_motor.write(abs(new_pwm));
+            motordir1 = 1;
+        pwm_motor1.write(abs(new_pwm));
+        
+         if(new_pwm < 0)
+            motordir2 = 0;
+        else
+            motordir2 = 1;
+        pwm_motor2.write(abs(new_pwm));
     }
 }