Revision 6:7ff223862008, committed 2014-06-30

Comitter:

lubbermans

Date:

Mon Jun 30 12:42:21 2014 +0000

Parent:

5:31120c4c08f0

Commit message:

hoi

Changed in this revision

--- a/main.cpp	Thu Jun 12 12:59:32 2014 +0000
+++ b/main.cpp	Mon Jun 30 12:42:21 2014 +0000
@@ -1,200 +1,48 @@
 #include "mbed.h"
 #include "encoder.h"
 #include "MODSERIAL.h"
-#include "time.h"
-#include "ref.h"
-#include "Tijd.h"
-
-MODSERIAL pc(USBTX,USBRX);
-Encoder Enc(PTA1,PTA2);
-PwmOut motorplus(PTD3);
-PwmOut motormin(PTC3);
 
-double rpm, pos, pos1, t, Ref, Error, deliver;
-double Prop, Kp, Int, Int1, Ki, Ctrl;
-double pwmotor;
-double speed, move, size;
-volatile bool looptimerflag, calflag, scriptflag;
-double Move[25];
-//double Tijd[9];
-//double Referentie[9];
-int n;
+PwmOut pwmA(PTA1);
+PwmOut pwmB(PTD2);
+DigitalOut dirA(PTD3);
+DigitalOut dirB(PTD1);
+Encoder motor1(PTC3,PTB23);
+MODSERIAL pc(USBTX,USBRX);
+Ticker timer;
+Ticker scripttimer;
 
-void setlooptimerflag(void)
+int x ;
+volatile bool scriptflag;
+
+void looper()
 {
-    looptimerflag = true;
+    pc.printf("%i\n", x);
+
 }
-void setscriptflag(void)
-{
-    scriptflag = true;
-}
-void setcalflag(void)
+void scripter()
 {
-    calflag = true;
-}
-void printdata(void)
-{
-    pc.printf("Speed %f Pos %f del %f\n\r",speed, pos, deliver);
+    scriptflag=true;
 }
-void printdata2(void)
-{
-    pc.printf("Del %f Ctrl %f\n\r",deliver,Ctrl);
-}
-void printdata3(void)
-{
-    pc.printf("P %f R %f E %f\n\r",pos, Ref,Error);
-}
-void printdata4(void)
-{
-    pc.printf("%f\n",Error);
-}
-
 int main()
 {
+    pwmA.period(1.0/20000.0);
+    pwmB.period(1.0/20000.0);
     pc.baud(115200);
-    wait(1);
-    pc.printf("start\n\r");
-    wait(1);
-    //Inladen data. Courtesy of http://runnable.com/UpSpP5ymsslIAAFo/reading-a-file-into-an-array-for-c%2B%2B-and-fstream
-
-    //Nu gaan we weer verder met het normale programma
-    Ticker looptimer;
-    Ticker printer;
-    Ticker script;
-    Ticker calibratie;
-    double ts=(1.0/5000.0);
-    double tsd=(1.0/5.0);
-    motorplus.period(1.0/60000.0);
-    motormin.period(1.0/60000.0);
-
-    //Kp = 1.1471/1;
-    //Ki = 4.9157/1;
-    Kp=1.5;
-    Ki=0.5;
-    pwmotor=-0.9/2.0;
-    deliver=0.01*pwmotor;
-    pos1=0;
-    n=0;
-    size=sizeof(Referentie)/sizeof(float);
-    t=0;
-    Move[24]=pwmotor*-100.0;
-    pos=Enc.getPosition();
-    speed=Enc.getSpeed();
+pc.printf("hoi");
+    scripttimer.attach(scripter,1.0/5000.0);
+    timer.attach(looper, 0.1);
+    while(1) {
 
-    /*
-        Referentie[0]=20.0;
-        Referentie[1]=17.0;
-        Referentie[2]=14.0;
-        Referentie[3]=20.0;
-        Referentie[4]=16.0;
-        Referentie[5]=20.0;
-        Referentie[6]=14.0;
-        Referentie[7]=25.0;
-        Referentie[8]=23.0;
-    */
-    /*
-        Tijd[0]=0;
-        Tijd[1]=5.5;
-        Tijd[2]=7.0;
-        Tijd[3]=9.25;
-        Tijd[4]=12.0;
-        Tijd[5]=15.5;
-        Tijd[6]=17.5;
-        Tijd[7]=23.0;
-        Tijd[8]=25.0;
-    */
-    wait(1);
-    pc.printf("start2\n\r");
-    wait(1);
+        while(scriptflag==false) {
+        }
+        scriptflag=false;
+
 
-    scriptflag = true;
-    //printer.attach(printdata,tsd);
-    //script.attach(setscriptflag, ts);
-    calibratie.attach(setcalflag,ts);
-    while(scriptflag == true) {
-        while(calflag != true) {
-        }
-        calflag=false;
-        if (abs(deliver) <= abs(pwmotor)) {
-            deliver=deliver*1.01;
-        }
-        motorplus.write(0.5+deliver);
-        motormin.write(0.5-deliver);
-        //pc.printf("pwm %f\n\r",deliver);
-        speed=Enc.getSpeed();
-        pos1=pos;
-        pos=Enc.getPosition()/1024.0;
-        Move[n]=pos-pos1;
-        n += 1;
-        if (n >24) {
-            n=0;
-        }
-        move=Move[24]-Move[0];
-        //pc.printf("Pwm %f Pos %f\n\r",deliver,pos);
+        x=motor1.getPosition();
 
-        if(Move[24] == 0.0 && Move[0] == 0.0 && abs(pos) > 0.5) {
-            motorplus.write(0.5);
-            motormin.write(0.5);
-            //pwmotor = pwmotor*-1.0;
-            //deliver=0.01*pwmotor;
-            pc.printf("Einde\n\r");
-            calibratie.detach();
-            printer.detach();
-            calflag=false;
-            scriptflag=false;
-            wait(1);
-        }
+        dirA=1;
+        pwmA=0.5;
+
 
     }
-
-
-
-    Enc.setPosition(0.0);
-    pwmotor=0.0;
-    deliver=0.01;
-    pc.printf("Begin loop\n\r");
-    wait(1);
-    printer.attach(printdata4,tsd);
-    looptimer.attach(setlooptimerflag,ts);
-    Ref=Referentie[0];
-    while(1) {
-        while (looptimerflag != true) {}
-        looptimerflag = false;
-//Encoder
-        pos=Enc.getPosition()/1024.0;
-        speed=Enc.getSpeed();
-
-        if (t >= Tijd[n]) {
-            Ref=Referentie[n];
-            n +=1;
-            if (n >=size) {
-                n=size;
-            }
-        }
-        t = t + ts;
-
-//Regelaar
-        Error=Ref-pos;
-        Prop=Error*Kp;
-        Int1=Int;
-        Int=(Int1+ts*Error)*Ki;
-        Ctrl=Prop+Int;
-
-        pwmotor=Ctrl;
-        deliver=pwmotor;
-        motorplus.write(0.5+deliver);
-        motormin.write(0.5-deliver);
-        if (t >= size/100) {
-            motorplus.write(0.0);
-            motormin.write(0.0);
-            pc.printf("\n\rBeindigd door tijd");
-            return 0;
-        }
-        if (abs(pos) >= 30 || (t >=5.0 && pos <=0.5)) {
-            motorplus.write(0.0);
-            motormin.write(0.0);
-            pc.printf("\n\rBeindigd door positie\n\r");
-            return 0;
-        }
-    }
 }
\ No newline at end of file