Doesn't hit the ends
Dependencies: Motordriver QEI mbed
main.cpp
- Committer:
- meikefrok
- Date:
- 2016-10-21
- Revision:
- 0:e881319cfd74
File content as of revision 0:e881319cfd74:
#include "QEI.h" #include "mbed.h" #include "motordriver.h" //======== Serial Communication ================================================ Serial pc(USBTX, USBRX); //======== Motor and QEI ======================================================= QEI wheel (D12, D13, NC, 62); //Safety for Motor int Brakeable; int sign; //Motor Motor A(D6, D7, D7, Brakeable); // pwm, fwd, rev, brake LEFT //======== Miscellaneous ======================================================= AnalogIn pot(A1); //Potmeter DigitalOut led(LED_GREEN); //Green LED InterruptIn btn(SW2); //Button InterruptIn btn2(SW3); //Button //======== Variables =========================================================== float factor = 0.03279; int position; float ain; /* Variable to store the analog input*/ //>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> //======== Functions and main ================================================== int main() { while(1){ if(btn && btn2) { A.speed(0)==0; }else if(btn && !btn2){ if(position <= -105){ A.speed(0.2)==0.2; }else{ A.speed(-0.5)==-0.5; } }else if(!btn && btn2){ if(position >= 105){ A.speed(-0.2)==-0.2; }else{ A.speed(0.5)==0.5; } } else{ A.speed(0)==0; } position = (wheel.getPulses()*factor) ; // position of the motor ain = pot.read(); if (ain == 0){ wheel.reset(); } else {} wait(0.1); pc.baud(115200); pc.printf("Afgelegde milimeters is: %i\n", position); } }