Diff: Motor_tryout.cpp

Revision:

13:18dd7a15603f

Parent:

12:2382468d36a4

Child:

14:b813ddfbcd71

--- a/Motor_tryout.cpp	Sat Oct 05 12:27:51 2019 +0000
+++ b/Motor_tryout.cpp	Mon Oct 07 12:40:19 2019 +0000
@@ -13,59 +13,61 @@
 MODSERIAL pc(USBTX, USBRX);
 QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
 
+// Global variables
+int quit;
+int counts = 0;
+int limit_pos = 8400;
+
+
 // DE TICKERS, deze ticker
 Ticker pulse;
-int counts;
 void pulseget()
-    {
+{
     counts = Encoder.getPulses();
+    if(counts > limit_pos)
+        {
+            quit = 1;
+        }
     }
 
+Ticker signal;
+void get_signal()
+{
+    int signal = 0;
+    }
+
+
 // DE MAIN FUNCTIE
 int main(void)
-    {   
+{
     pc.baud(115200);
-    char cc = pc.getc();
-    pc.printf("In de main, check\r\n");
-    pc.putc(cc);
-    if (cc == 'm' or cc == 'm')
+    pc.printf("In main\r\n");
+    
+    while(true)
+    {
+        quit = 0;
+        counts = 0;
+        char cc = pc.getc();    
+        while(cc == 'g')
         {
-        pc.printf("In de if, check\r\n");
-        pc.baud(115200);
-        int frequency_pwm = 10000; //10 kHz PWM
-        PwmOut motor1_pwm(PTC2);
-        PwmOut motor2_pwm(PTA2);
-        motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f
-        motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f
-        while(true)
-            {   
-            pc.printf("In de while, check\r\n");
-            
-            // MOTOR 1 START
-            int limit = 20000;
-                for(int pct = 55 ; pct <= 70 ; pct ++)
-                {
-                motor1_pwm.write(pct/100.0); // write Duty Cycle
-                pulse.attach(pulseget,1.0/100);
-                pc.printf("Motor 1 speed %i and the count is %i\r\n", pct, counts);
-                wait(1.0f);
-                if(counts > limit)
-                    {
-                    break;
-                    }
+            int frequency_pwm = 10000; //10 kHz PWM
+            PwmOut motor1_pwm(PTC2);
+            PwmOut motor2_pwm(PTA2);
+            motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f
+            motor1_dir.write(0); // positief
+            motor1_pwm.write(0.56); // write Duty Cycle  
+            pulse.attach(pulseget,1.0/10000);
+            if(quit == 1)
+            {
+                pulse.detach();
+                motor1_pwm.write(0);
+                pc.printf("The motor is off with counts is %i\n\r",counts);               
+                break;
                 }
-            motor1_pwm.write(0.0f); // motor 1 off again
-            pc.printf("Motor 1 off\r\n");
-            
-            // MOTOR TWEE START
-            for(int pct = 0 ; pct <= 100 ; pct += 10)
-                {
-                pc.printf("Motor 2\r\n");
-                motor2_pwm.write(pct/100.0); // write Duty Cycle
-                wait(1.0f);
-                }
-            motor2_pwm.write(0.0f); // motor 2 off again
-            pc.printf("Motor 2 off\r\n");
+            wait(1.0/1000);
             }
+        cc = pc.getc();
+        counts = 0;
+        pc.printf("The motor is in final state and counts is %i\n\r",counts);
         }
     }
\ No newline at end of file