Diff: main.cpp

Revision:

40:47997e887235

Parent:

39:c0c2e33a2181

Child:

41:e86f6f2e2bfc

--- a/main.cpp	Wed Apr 13 10:58:34 2022 +0200
+++ b/main.cpp	Wed Apr 20 08:22:36 2022 +0200
@@ -6,6 +6,7 @@
 
 //Eingänge
 DigitalIn user_button(PC_13);
+DigitalIn mechanical_button(PC_5);
 
 //Ausgänge
 DigitalOut enable_motors(PB_15); // Motoren freischalten
@@ -28,9 +29,11 @@
 float kp = 0.1f;                            // define custom kp, this is the default speed controller gain for gear box 78.125:1
 
 // SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwm_M2, encoder_M2); // default 78.125:1 gear box  with default contoller parameters
-SpeedController speedController_M1(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M1, encoder_M1); // parameters adjusted to 100:1 gear
+//SpeedController speedController_M1(counts_per_turn * k_gear, kn / k_gear, max_voltage, pwm_M1, encoder_M1); // parameters adjusted to 100:1 gear
 float max_speed_rps = 0.5f;                 // define maximum speed that the position controller is changig the speed, has to be smaller or equal to kn * max_voltage
 
+// PositionController positionController_M3(counts_per_turn, kn, max_voltage, pwm_M3, encoder_M3); // default 78.125:1 gear with default contoller parameters
+PositionController positionController_M1(counts_per_turn * k_gear, kn / k_gear, kp * k_gear, max_voltage, pwm_M1, encoder_M1); // parameters adjusted to 100:1 gear, we need a different speed controller gain here
 
 int main(){
 
@@ -49,25 +52,34 @@
         if (user_button.read()){
             counter_stopp = 0;
         }
-        if (counter_user_button >= 4){
+        if (counter_user_button >= 5){
             counter_user_button = 1;
         }
         float speed_counter;
         switch (counter_user_button){
             case 1:
-            enable_motors = 0;
+            enable_motors = 1;
             speed_counter = 0.0f;
+            positionController_M1.setDesiredRotation(0.0f, 0.0f);
             break;
             case 2:
             enable_motors = 1;
             speed_counter = 0.1f;
+            positionController_M1.setDesiredRotation(1.5f, 0.2f);
             break; 
             case 3:
+            enable_motors = 1;
+            speed_counter = 0.0f;
+            positionController_M1.setDesiredRotation(0.0f, 0.0f);
+            break; 
+            case 4:
+            enable_motors = 1;
             speed_counter = 1.0f;
+            positionController_M1.setDesiredRotation(1.5f, 1.0f);
             break; 
         }
 
-        
+        //positionController_M1.setDesiredRotation(1.5f, speed_counter);
     
         /*if (counter_user_button == 1 || counter_user_button == 3 || counter_user_button == 5){
         speedController_M1.setDesiredSpeedRPS(speed_counter);