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Dependencies:   mbed QEI MODSERIAL FastPWM ttmath Math

Motor_tryout.cpp

Committer:
Feike
Date:
2019-10-14
Revision:
17:6da57acb7bea
Parent:
16:2ad161f709f6
Child:
18:ab0fe311e7f3

File content as of revision 17:6da57acb7bea:

#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);

QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);

int quit;
int counts = 0;
int limit_pos = 8400;

Ticker pulse;
void pulseget()
{
    counts = Encoder.getPulses();
    if(counts > limit_pos)
        {
            quit = 1;
        }
    }

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;
        {
            pc.printf("in while");
            int frequency_pwm = 10000; //10 kHz PWM
            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);
            }
        }
    }