thijs ruikes / Mbed 2 deprecated PROJECT-BATJEPOSTITIE

vor bas

Dependencies:   Encoder mbed

main.cpp@0:b48b8c18b1bd, 2014-10-30 (annotated)

Committer:
wiesdat
Date:
Thu Oct 30 17:10:14 2014 +0000
Revision:
0:b48b8c18b1bd
Child:
1:d157905a98d1
BATJE positie, naar links en rechts bewegen, encoder op nul stellen en uitlezen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wiesdat 0:b48b8c18b1bd 1 #include "mbed.h"
wiesdat 0:b48b8c18b1bd 2 #include "mbed.h"
wiesdat 0:b48b8c18b1bd 3 #include "encoder.h"
wiesdat 0:b48b8c18b1bd 4 #define K_P (0.1)
wiesdat 0:b48b8c18b1bd 5 #define K_I (0.1)
wiesdat 0:b48b8c18b1bd 6 #define K_D (0.0005 /TSAMP)
wiesdat 0:b48b8c18b1bd 7 #define TSAMP 0.001
wiesdat 0:b48b8c18b1bd 8 #define I_LIMIT 1.
wiesdat 0:b48b8c18b1bd 9 #include <iostream>
wiesdat 0:b48b8c18b1bd 10
wiesdat 0:b48b8c18b1bd 11 Encoder encoderA(PTD5,PTA13);
wiesdat 0:b48b8c18b1bd 12
wiesdat 0:b48b8c18b1bd 13 PwmOut pwm(PTC8);
wiesdat 0:b48b8c18b1bd 14 DigitalOut dir(PTC9);
wiesdat 0:b48b8c18b1bd 15
wiesdat 0:b48b8c18b1bd 16 int32_t enc = 0,enca2 =0,enca1=0, encp=0, counts =0;
wiesdat 0:b48b8c18b1bd 17 float speed = 0.1, out =0;
wiesdat 0:b48b8c18b1bd 18 int pos =0,zero =0, fout;
wiesdat 0:b48b8c18b1bd 19 float v=0;
wiesdat 0:b48b8c18b1bd 20 float out_i = 0;
wiesdat 0:b48b8c18b1bd 21 int y;
wiesdat 0:b48b8c18b1bd 22
wiesdat 0:b48b8c18b1bd 23
wiesdat 0:b48b8c18b1bd 24 int main()
wiesdat 0:b48b8c18b1bd 25 {
wiesdat 0:b48b8c18b1bd 26 while(1){
wiesdat 0:b48b8c18b1bd 27 cout<<"typ 1 voor links, 2 voor rechts: "<<endl;
wiesdat 0:b48b8c18b1bd 28 cin>>y;
wiesdat 0:b48b8c18b1bd 29 switch(y) {
wiesdat 0:b48b8c18b1bd 30 case 1:
wiesdat 0:b48b8c18b1bd 31 cout<<"links"<<endl;
wiesdat 0:b48b8c18b1bd 32 dir = 1;
wiesdat 0:b48b8c18b1bd 33 pwm.write(0.4);
wiesdat 0:b48b8c18b1bd 34 wait(0.01);
wiesdat 0:b48b8c18b1bd 35 pwm.write(0);
wiesdat 0:b48b8c18b1bd 36 break;
wiesdat 0:b48b8c18b1bd 37 case 2:
wiesdat 0:b48b8c18b1bd 38 cout<<"rechts"<<endl;
wiesdat 0:b48b8c18b1bd 39 dir = 0;
wiesdat 0:b48b8c18b1bd 40 pwm.write(0.4);
wiesdat 0:b48b8c18b1bd 41 wait(0.01);
wiesdat 0:b48b8c18b1bd 42 pwm.write(0);
wiesdat 0:b48b8c18b1bd 43 break;
wiesdat 0:b48b8c18b1bd 44 case 3:
wiesdat 0:b48b8c18b1bd 45 cout<<encoderA.getPosition()<<endl;
wiesdat 0:b48b8c18b1bd 46 break;
wiesdat 0:b48b8c18b1bd 47 case 4:
wiesdat 0:b48b8c18b1bd 48 encoderA.setPosition(0);
wiesdat 0:b48b8c18b1bd 49 break;
wiesdat 0:b48b8c18b1bd 50 }
wiesdat 0:b48b8c18b1bd 51 }
wiesdat 0:b48b8c18b1bd 52
wiesdat 0:b48b8c18b1bd 53
wiesdat 0:b48b8c18b1bd 54 }