vor bas

Dependencies:   Encoder mbed

Files at this revision

API Documentation at this revision

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

Changed in this revision

Encoder.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder.lib	Thu Oct 30 17:10:14 2014 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/vsluiter/code/Encoder/#18b000b443af
--- /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
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Oct 30 17:10:14 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/031413cf7a89
\ No newline at end of file