Meike Froklage
Doesn't hit the ends
Dependencies: Motordriver QEI mbed
Revision 0:e881319cfd74, committed 2016-10-21
- Comitter:
- meikefrok
- Date:
- Fri Oct 21 11:28:55 2016 +0000
- Commit message:
- Encoder Cart
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver.lib Fri Oct 21 11:28:55 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/littlexc/code/Motordriver/#3110b9209d3c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Fri Oct 21 11:28:55 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Oct 21 11:28:55 2016 +0000
@@ -0,0 +1,76 @@
+#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);
+ }
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Oct 21 11:28:55 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/25aea2a3f4e3 \ No newline at end of file