Diff: main.cpp

Revision:

1:8b0322a353f4

Parent:

0:0b7259fdb68a

Child:

2:cf0147952fb9

--- a/main.cpp	Thu Mar 24 11:01:18 2016 +0000
+++ b/main.cpp	Mon Mar 28 12:23:38 2016 +0000
@@ -6,51 +6,66 @@
 DigitalOut dir1(PC_0);
 DigitalOut dir2(PC_1);
 InterruptIn encA(PA_0);
+//InterruptIn encB(PA_1);
 InterruptIn bt(USER_BUTTON);
 Serial pc(SERIAL_TX, SERIAL_RX);
 
-int iLoe = 0;
-int isItTime = 0;
-int iUus = 0;
 int iAeg = 0;
-//int iVan[2] = {0,0};
-double dPwm = 0.01;
-int lastB= bt;
+//int iDir;
+//int iTime = 0;
+unsigned long long int iSum = 0;
+double dPwm = 0.2;
+double newPwm = dPwm;
+double miss = 0;
+double lastMiss = 0;
+double chPwm = 0;
+double totMiss = 0;
+double minPwm = 0.1;
+double maxPwm = 0.7;
+double dSpeed = 0.5;
 
+
+/*int getDir(){
+    if ((dAeg/(double)iDir > 0.5){
+        return (1);}
+    else return 0;
+    }*/
 void start(){
-    iUus = timer.read_us();
     timer.reset();
     }
+/*void dir(){
+    iDir = timer.read_us();
+    }*/
 void stop(){
     iAeg = timer.read_us();
-    }
-
-void button(){
-    isItTime = 1;
+    //iDir = getDir();
     }
 
 int main(){
+    timer.start();
     encA.rise(&start);
     encA.fall(&stop);
-    bt.fall(&button);
-    timer.start();
+    //encB.rise(&dir);
+    double real = (1-dSpeed)*1000;
     mypwm.write(dPwm);
-    //mypwm.period_ms(10);
-    //mypwm.pulsewidth_ms(4);
     dir1 = 1;
     dir2 = 0;
-
-    while(1) {
-        if (isItTime){
-            isItTime = 0;
-            dPwm = dPwm + 0.1;
-            if (dPwm>=1){
-                dPwm--;
+    while(1){
+        if (iAeg != 0){
+                miss = iAeg - real;
+                totMiss = totMiss + miss;
+                chPwm = totMiss/200000;
+                if (chPwm > -0.0001 && chPwm < 0.0001) {
+                    pc.printf("%f,%f\n",totMiss,chPwm);}
+                newPwm = dPwm + chPwm;
+                if (newPwm < minPwm){
+                    newPwm = minPwm;
+                    }
+                else if (newPwm > maxPwm){
+                    newPwm = maxPwm;
+                    }
+                mypwm.write(newPwm);
+                iAeg = 0;
             }
-            mypwm.write(dPwm);
         }
-        else {
-            pc.printf("%f: %d/%d\n",dPwm,iUus,iAeg);
-        }
-    }
-}
+    }
\ No newline at end of file