Diff: main.cpp

Revision:

3:ac0fe759170f

Parent:

2:174885cd1665

--- a/main.cpp	Mon Oct 12 13:10:43 2015 +0000
+++ b/main.cpp	Wed Oct 14 09:57:31 2015 +0000
@@ -2,48 +2,56 @@
 #include "HIDScope.h"
 #include "encoder.h"
 
-Encoder motor1(D13,D12);
-PwmOut led(D9);
-HIDScope scope(1);
-
-DigitalOut motor_direction(D4);
-PwmOut motor_speed(D5);
 
-DigitalIn button_1(PTC6); //counterclockwise
-DigitalIn button_2(PTA4); //clockwise
+//pinverdeling en naamgeving variabelen
+Encoder motor1(D13,D12);        // telt pulsen bij verdraaiing en zet dit om in de rotatiehoek
+PwmOut led(D9);
+DigitalOut motor_direction(D4); // motor direction
+PwmOut motor_speed(D5);         // motor speed
+DigitalIn button_1(PTC6);       // counterclockwise
+DigitalIn button_2(PTA4);       // clockwise
+HIDScope scope(1);              // Hidscope op channel 1??!!
 
-const int pressed = 0;
+const int pressed = 0;     //signaal(beweging) bij indrukken
 
-
-void move_motor_ccw (){
+void move_motor_ccw ()  //beweging ccw motor 1, signaal van linker biceps
+{
     motor_direction = 0;
     motor_speed = 1;
-    }
-    
-void move_motor_cw (){
+}
+
+void move_motor_cw ()   // beweging cw motor 1, signaal van rechter biceps
+{
     motor_direction = 1;
     motor_speed = 0.1;
+}
+
+void read_encoder ()    // aflezen van encoder via hidscope??
+{
+    scope.set(0,motor1.getPosition());
+    led.write(motor1.getPosition()/100.0);
+    scope.send();
+    wait(0.2f);
+}
+
+void move() // beweging van motor 1 cw of ccw d.m.v. button 1 of 2
+{
+    if (button_1 == pressed) {
+        move_motor_cw ();
+    } else if (button_2 == pressed) {
+        move_motor_ccw ();
+    } else {
+        motor_speed = 0;
+    }
+}
+
+//uitvoeren van script
+int main()
+{
+    while (true) {
+
+        read_encoder();
+        move();
     }
 
-int main()
-{
-    scope.set(0,motor1.getPosition());
-    
-    while (true) {
-     
-        if (button_1 == pressed){
-            move_motor_cw ();
-            }
-        else if (button_2 == pressed){
-            move_motor_ccw ();
-            }
-        else { 
-            motor_speed = 0;
-            }
-        
-        led.write(motor1.getPosition()/100.0);
-        scope.send();
-        wait(0.2f);
-        
-    }
-}
\ No newline at end of file
+}