Diff: main.cpp

Revision:

0:1045216da12e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 22 11:11:15 2018 +0000
@@ -0,0 +1,42 @@
+#include "mbed.h"
+
+
+//initial allocations
+DigitalOut dirpin(D4);
+PwmOut pwmpin(D5);
+QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
+
+//volatiles
+volatile counts_prev=0;
+
+//functions
+int counts(){
+    int counts=Encoder.getPulses();     //MAAK NOG AF MET PREVIOUS COUNTS ONTHOUDEN.
+    return counts
+
+
+int main(){
+    pwmpin.period_us(60);
+    
+    //parameters
+    int caltime=30;             //calibration time until condition has been met, caltime=(time/0.1)  
+    float speed=0.50f;
+    int dir=0
+    
+    //move towards end
+    for (m=1;2;m++){
+        dirpin.write(dir);
+        pwmpin = speed;
+        int n=1
+        //when motor counts do not change anymore, change direction
+        while(n<(caltime+1)){
+            for (n=1;caltime;n++){
+                if (counts()!=counts_prev){
+                    n=0;}
+                else {}
+            wait(0.1);}
+            dir=dir+1;}
+            
+            
+            
+            
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