maaike laagland / Homing

Homing system

homingsystem.cpp@0:c49ff6a6ebee, 2017-10-31 (annotated)

Committer:
maaikelaagland
Date:
Tue Oct 31 16:16:34 2017 +0000
Revision:
0:c49ff6a6ebee
homing system ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maaikelaagland 0:c49ff6a6ebee 1 #include "QEI.h"
maaikelaagland 0:c49ff6a6ebee 2 #include "Servo.h"
maaikelaagland 0:c49ff6a6ebee 3 #include "mbed.h"
maaikelaagland 0:c49ff6a6ebee 4
maaikelaagland 0:c49ff6a6ebee 5 Serial pc(USBTX, USBRX);
maaikelaagland 0:c49ff6a6ebee 6 //Use X4 encoding.
maaikelaagland 0:c49ff6a6ebee 7 //QEI wheel(p29, p30, NC, 624, QEI::X4_ENCODING);
maaikelaagland 0:c49ff6a6ebee 8 //Use X2 encoding by default.
maaikelaagland 0:c49ff6a6ebee 9 QEI wheel1(D10, D11, NC, 32);
maaikelaagland 0:c49ff6a6ebee 10 QEI wheel2(D13, D12, NC, 32); //enable the encoder
maaikelaagland 0:c49ff6a6ebee 11 PwmOut motor1_speed(D6);
maaikelaagland 0:c49ff6a6ebee 12 PwmOut motor2_speed(D5);
maaikelaagland 0:c49ff6a6ebee 13 DigitalOut motor1_direction (D7);
maaikelaagland 0:c49ff6a6ebee 14 DigitalOut motor2_direction(D4);
maaikelaagland 0:c49ff6a6ebee 15 AnalogIn potmeter(A0);
maaikelaagland 0:c49ff6a6ebee 16 AnalogIn potmeter2(A1);
maaikelaagland 0:c49ff6a6ebee 17 InterruptIn button(D8);
maaikelaagland 0:c49ff6a6ebee 18 DigitalIn button2(D2);
maaikelaagland 0:c49ff6a6ebee 19 DigitalIn button3(D3); //deze
maaikelaagland 0:c49ff6a6ebee 20 DigitalOut led(D3);
maaikelaagland 0:c49ff6a6ebee 21 Ticker motor_update;
maaikelaagland 0:c49ff6a6ebee 22
maaikelaagland 0:c49ff6a6ebee 23
maaikelaagland 0:c49ff6a6ebee 24
maaikelaagland 0:c49ff6a6ebee 25 float motor1_set_speed= 0; //dit is x procent van het volledige snelheid
maaikelaagland 0:c49ff6a6ebee 26 float motor2_set_speed= 0;
maaikelaagland 0:c49ff6a6ebee 27 float position;
maaikelaagland 0:c49ff6a6ebee 28
maaikelaagland 0:c49ff6a6ebee 29 void motor_control(){
maaikelaagland 0:c49ff6a6ebee 30 motor1_speed.write(motor1_set_speed);
maaikelaagland 0:c49ff6a6ebee 31 motor2_speed.write(motor2_set_speed);
maaikelaagland 0:c49ff6a6ebee 32 motor1_direction.write(1); //hij gaat één kant op
maaikelaagland 0:c49ff6a6ebee 33 motor2_direction.write(1);
maaikelaagland 0:c49ff6a6ebee 34
maaikelaagland 0:c49ff6a6ebee 35 }
maaikelaagland 0:c49ff6a6ebee 36
maaikelaagland 0:c49ff6a6ebee 37 void homing_system () {
maaikelaagland 0:c49ff6a6ebee 38 pc.baud(115200);
maaikelaagland 0:c49ff6a6ebee 39 motor_update.attach(motor_control,0.1);
maaikelaagland 0:c49ff6a6ebee 40 button2.mode(PullDown);
maaikelaagland 0:c49ff6a6ebee 41 button3.mode(PullDown);
maaikelaagland 0:c49ff6a6ebee 42 while (true){
maaikelaagland 0:c49ff6a6ebee 43
maaikelaagland 0:c49ff6a6ebee 44 if (button == 0){
maaikelaagland 0:c49ff6a6ebee 45 motor1_set_speed = 0.15;
maaikelaagland 0:c49ff6a6ebee 46 }
maaikelaagland 0:c49ff6a6ebee 47
maaikelaagland 0:c49ff6a6ebee 48 if (button2 == 1){
maaikelaagland 0:c49ff6a6ebee 49 motor1_set_speed = 0;
maaikelaagland 0:c49ff6a6ebee 50 motor2_set_speed=0.15;
maaikelaagland 0:c49ff6a6ebee 51 }
maaikelaagland 0:c49ff6a6ebee 52 if (button3 == 1) {
maaikelaagland 0:c49ff6a6ebee 53
maaikelaagland 0:c49ff6a6ebee 54 motor2_set_speed = 0;
maaikelaagland 0:c49ff6a6ebee 55 float position = 0;
maaikelaagland 0:c49ff6a6ebee 56 }
maaikelaagland 0:c49ff6a6ebee 57
maaikelaagland 0:c49ff6a6ebee 58 if (button2 == 1 && button3 ==1) {
maaikelaagland 0:c49ff6a6ebee 59 break;
maaikelaagland 0:c49ff6a6ebee 60 }
maaikelaagland 0:c49ff6a6ebee 61 }
maaikelaagland 0:c49ff6a6ebee 62 }
maaikelaagland 0:c49ff6a6ebee 63
maaikelaagland 0:c49ff6a6ebee 64
maaikelaagland 0:c49ff6a6ebee 65
maaikelaagland 0:c49ff6a6ebee 66 int main(){
maaikelaagland 0:c49ff6a6ebee 67 homing_system ();
maaikelaagland 0:c49ff6a6ebee 68 return 0;
maaikelaagland 0:c49ff6a6ebee 69 }