Peter Bartels / Mbed 2 deprecated Motor_component_testing_1

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Dependencies:   Encoder HIDScope mbed

Fork of Motor_component_testing by Bart Arendshorst

Files at this revision

API Documentation at this revision

Revision 5:a0f300785c3d, committed 2014-10-27

Comitter:
phgbartels
Date:
Mon Oct 27 14:35:37 2014 +0000
Parent:
4:71ada7709c46
Commit message:
Motor_component_testing_G9

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Oct 27 12:45:01 2014 +0000
+++ b/main.cpp	Mon Oct 27 14:35:37 2014 +0000
@@ -13,6 +13,7 @@
 /*Definieren om de hoeveel seconden er gegevens naar de HID-scope gestuurd worden.*/
 #define TSAMP 0.005
 #define I_LIMIT 1.
+#define PI 3.1415926535897
 
 Encoder motor1(PTD3,PTD1);
 Encoder motor2(PTD5, PTD0); 
@@ -24,15 +25,18 @@
 
 void clamp(float * in, float min, float max);
 volatile bool looptimerflag;
-int PWM1_percentage = 1;
+int PWM1_percentage = 100;
 int PWM2_percentage = 1; 
-int aantal_rotaties = 100;
+int aantal_rotaties = 10;
 int aantalcr = 960;
 int beginpos_motor1;
 int beginpos_motor1_new; 
 int beginpos_motor2;
+int beginpos_motor2_new;
 float PWM1 = ((1-PWM1_min_30)/100)*PWM1_percentage + PWM1_min_30; 
 float PWM2 = ((1-PWM2_min_50)/100)*PWM2_percentage + PWM1_min_30;
+float Speed_motor1;
+float Speed_motor1rad;
 
 HIDScope scope(4);
 
@@ -54,10 +58,12 @@
     
 int main() {
     //tick.attach(&PWMc, 5);
-    
+    wait(20);
+    motor1.setPosition(0);
     beginpos_motor1 = motor1.getPosition();
     beginpos_motor1_new = beginpos_motor1; 
     beginpos_motor2 = motor2.getPosition();
+    beginpos_motor2_new = beginpos_motor2; 
     
     Ticker looptimer; // looptimer = variabele van het type ticker(niet int of float), Daarmee is looptimer een classe. Omdat een classe is heeft het methods oftewel functies, zoals attach. Setlooptimerflag is een functie 
     looptimer.attach(setlooptimerflag,TSAMP); // attach betekend het koppelen van een functie aan een classe.   
@@ -71,7 +77,8 @@
     pwm_motor1.write(PWM1);
     pwm_motor2.write(PWM2);
     beginpos_motor1_new = motor1.getPosition(); 
-    
+    Speed_motor1 = (motor1.getSpeed()/30/32); 
+    Speed_motor1rad = Speed_motor1*2*PI;
     //while(true) { 
             LED = 1;
             while(!looptimerflag) //Hierdoor zeg je eigenlijk tegen je systeem; voer dit script uit na elke TSAMP s. 
@@ -82,8 +89,8 @@
             
         scope.set(0, motor1.getPosition());
         scope.set(1, motor1.getSpeed());
-        scope.set(2, motor2.getPosition());
-        scope.set(3, motor2.getSpeed());  
+        scope.set(2, Speed_motor1);
+        scope.set(3, Speed_motor1rad);  
         scope.send();
         }
         
@@ -100,7 +107,7 @@
         looptimerflag = false; //clear flag
         scope.set(0, motor1.getPosition());
         scope.set(1, motor1.getSpeed());
-        scope.set(2, motor2.getPosition());
-        scope.set(3, motor2.getSpeed());  
+        scope.set(2, Speed_motor1);
+        scope.set(3, Speed_motor1rad);  
         scope.send();
 }
\ No newline at end of file