Diff: main.cpp

Revision:

0:f69c13e72486

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 13 20:12:01 2015 +0000
@@ -0,0 +1,58 @@
+#include "mbed.h"
+#include "HIDScope.h"
+#include "encoder.h"
+
+
+//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;     //signaal(beweging) bij indrukken
+
+void move_motor_ccw ()  //beweging ccw motor 1, signaal van linker biceps
+{
+    motor_direction = 0;
+    motor_speed = 1;
+}
+
+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();
+    }
+
+}
+