Diff: main.cpp

Revision:

0:b48b8c18b1bd

Child:

1:d157905a98d1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 30 17:10:14 2014 +0000
@@ -0,0 +1,54 @@
+#include "mbed.h"
+#include "mbed.h"
+#include "encoder.h"
+#define K_P (0.1)
+#define K_I (0.1)
+#define K_D (0.0005 /TSAMP)
+#define TSAMP 0.001
+#define I_LIMIT 1.
+#include <iostream>
+
+Encoder encoderA(PTD5,PTA13);
+
+PwmOut pwm(PTC8);
+DigitalOut dir(PTC9);
+
+int32_t enc = 0,enca2 =0,enca1=0, encp=0, counts =0;
+float speed = 0.1, out =0;
+int pos =0,zero =0, fout;
+float v=0;
+float out_i = 0;
+int y;
+
+
+int main()
+{
+    while(1){
+        cout<<"typ 1 voor links, 2 voor rechts: "<<endl;
+    cin>>y;
+    switch(y) {
+        case 1:
+            cout<<"links"<<endl;
+            dir = 1;
+            pwm.write(0.4);
+            wait(0.01);
+            pwm.write(0);
+            break;
+        case 2:
+            cout<<"rechts"<<endl;
+            dir = 0;
+            pwm.write(0.4);
+            wait(0.01);
+            pwm.write(0);
+            break;
+        case 3:
+            cout<<encoderA.getPosition()<<endl;
+            break;
+        case 4:
+             encoderA.setPosition(0);
+             break;
+    }
+}
+
+
+}
\ No newline at end of file