![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Signa-bot code for project BioRobotics, at University of Twente.
Dependencies: mbed QEI MODSERIAL FastPWM ttmath Math
Motor_tryout.cpp
- Committer:
- Feike
- Date:
- 2019-10-03
- Revision:
- 9:61bdf58f856e
- Parent:
- 8:017b813c72bb
- Child:
- 11:7c2d492466c2
- Child:
- 12:2382468d36a4
File content as of revision 9:61bdf58f856e:
#include "mbed.h" #include "MODSERIAL.h" // test, hallo DigitalOut motor1_pwm(PTC2); // aansturen motor 1, via poort PTC2 DigitalIn motor1_1(PTD1); // data vanuit motor 1 DigitalIn motor1_2(PTD3); // data vanuit motor 1 DigitalOut motor2_pwm(PTA2); // aansturen motor 2, via poort PTA2 AnalogIn input(PTB3); // input van ECG MODSERIAL pc(USBTX, USBRX); int main(void) { pc.baud(115200); char c = pc.getc(); pc.printf("In de main, check\r\n"); if (c == 'm') { 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"); int DataM[1000]; for(int pct = 0 ; pct <= 100 ; pct += 10) { pc.printf("Motor 1\r\n"); motor1_pwm.write(pct/100.0); // write Duty Cycle wait(1.0f); //for(int tijd = 0 ; pct <= 100 ; pct += 1) // { // int tijd2 = tijd + pct/10*10; // int Outm1 = motor1_1.read(); // DataM[tijd2] = Outm1; // wait(0.1f); // } } for (int pr = 0 ; pr <= 100; pr += 1); { int value = DataM[pr]; pc.printf("Data motor 1 is %i", value); } motor1_pwm.write(0.0f); // motor 1 off again pc.printf("Motor 1 off\r\n"); 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"); } } if (c == 'e') { pc.printf("In de tweede if, check"); while (true) { int sample = input.read(); pc.printf("Input is %i \r\n", sample); wait(1.0f); } } }