Signa-bot code for project BioRobotics, at University of Twente.
Dependencies: mbed QEI MODSERIAL FastPWM ttmath Math
Diff: Motor_tryout.cpp
- Revision:
- 11:7c2d492466c2
- Parent:
- 6:4dbd0d12e0f7
- Parent:
- 9:61bdf58f856e
diff -r 8f541e4e6e60 -r 7c2d492466c2 Motor_tryout.cpp --- a/Motor_tryout.cpp Mon Oct 07 12:42:33 2019 +0000 +++ b/Motor_tryout.cpp Mon Oct 07 13:52:56 2019 +0000 @@ -1,20 +1,74 @@ #include "mbed.h" #include "MODSERIAL.h" -DigitalOut motor1_pwm(D3); +// 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) -{ - int frequency_pwm = 10000; //10 kHz PWM - PwmOut motor1_pwm(D3); - motor1_pwm.period(1.0/frequency_pwm); // T=1/f - while(true) + { + 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') { - for(int pct = 0 ; pct <= 100 ; pct = pct +10) + pc.printf("In de tweede if, check"); + while (true) { - motor1_pwm.write(pct/100.0); // write Duty Cycle - wait(0.1); - } + int sample = input.read(); + pc.printf("Input is %i \r\n", sample); + wait(1.0f); + } } } // Comment kkd \ No newline at end of file