Diff: Motor_tryout.cpp

Revision:

17:6da57acb7bea

Parent:

16:2ad161f709f6

Child:

18:ab0fe311e7f3

--- a/Motor_tryout.cpp	Mon Oct 14 07:36:10 2019 +0000
+++ b/Motor_tryout.cpp	Mon Oct 14 09:05:05 2019 +0000
@@ -1,10 +1,12 @@
 #include "mbed.h" 
 #include "MODSERIAL.h"
 #include "QEI.h"
+MODSERIAL pc(USBTX, USBRX);
+PwmOut motor1_pwm(PTC2);
+DigitalOut motor1_dir(PTC3);
+PwmOut motor3_pwm(PTA1);
+DigitalOut motor3_dir(PTB9);
 
-DigitalOut motor_pwm(PTC2);
-DigitalOut motor_dir(PTC3);
-MODSERIAL pc(USBTX, USBRX);
 QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
 
 int quit;
@@ -21,37 +23,48 @@
         }
     }
 
+Ticker show;
+void pulseshow()
+{
+    pc.printf("The counts is %i",counts);
+    }
+
+
 // DE MAIN FUNCTIE
 int main(void)
 {
     pc.baud(115200);    
+    char cc = pc.getc();
     while(true)
     {
         quit = 0;
         counts = 0;
-        char cc = pc.getc();
         {
             pc.printf("in while");
             int frequency_pwm = 10000; //10 kHz PWM
-            PwmOut motor_pwm(PTC2);
-            PwmOut motor_dir(PTC3);
-            motor_pwm.period(1.0/(double)frequency_pwm); // T=1/f
-            motor_dir.write(0); // positief
-            motor_pwm.write(0.8); // write Duty Cycle  
-            pulse.attach(pulseget,1.0/10000);
-            if(quit == 1)
-            {
-                pulse.detach();
-                motor_pwm.write(0);
-                pc.printf("The motor is off with counts is %i\n\r",counts);               
-                break;
-                }
-            wait(1.0/10000);
+            motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f
+            motor1_dir.write(0); // positief
+            motor1_pwm.write(0.8); // write Duty Cycle  
+            
+            motor3_pwm.period(1.0/(double)frequency_pwm); // T=1/f
+            motor3_dir.write(0); // positief
+            motor3_pwm.write(0.8); // write Duty Cycle  
+            
+            counts = Encoder.getPulses();
+            pc.printf("The counts is %i\n\r",counts);
+            
+            //pulse.attach(pulseget,1.0/10000);
+            // show.attach(pulseshow,1.0/10000);
+            
+            //if(quit == 1)
+            //{
+            //    pulse.detach();
+            //    motor1_pwm.write(0);
+            //    motor3_pwm.write(0);
+            //    pc.printf("The motor is off with counts is %i\n\r",counts);               
+            //    break;
+            //    }
+            wait(1.0/10);
             }
-        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