Revision 2:44cc689e14d6, committed 2014-10-29

Comitter:

wiesdat

Date:

Wed Oct 29 13:39:26 2014 +0000

Parent:

1:5ac17a29fa08

Commit message:

Motorspeedcontrol: I regelaar, input case

Changed in this revision

--- a/main.cpp	Wed Oct 29 13:25:18 2014 +0000
+++ b/main.cpp	Wed Oct 29 13:39:26 2014 +0000
@@ -11,7 +11,7 @@
 
 PwmOut pwm(PTA5);
 DigitalOut dir(PTA4);
-
+int y1;
 
 
 
@@ -20,9 +20,7 @@
 int n=0,a =1 ,b =0;
 float out;
 
-//clamps value 'in' to min or max when exceeding those values
-//if you'd like to understand the statement below take a google for
-//'ternary operators'.
+
 void clamp(float * in, float min, float max)
 {
 *in > min ? *in < max? : *in = max: *in = min;
@@ -66,33 +64,42 @@
     v = (counts)*((2*3.14159265359)/1550);
     return v;
 }
+
+float speedcontrol()
+{
+
+    v = getv();
+    cout<<"v: "<<v<<endl;
+    out = pid(v_ref,v);
+    cout<<"out: "<<out<<endl;
+    pwm = out;
+}
+
 int main()
 {
     dir = 1;
-    cout<<"typ v_ref: "<<endl;
-    cin>>v_ref;
-    cout<<"v_ref: "<<v_ref<<endl;
+    cout<<"typ case: "<<endl;
+    cin>>y1;
+    cout<<"case: "<<y1<<endl;
+    
+
     while(1) {
-        v = getv();
-        cout<<"v: "<<v<<endl;
-        out = pid(v_ref,v);
-        cout<<"out: "<<out<<endl;
-        pwm = out;
+        switch(y1) {
+            case 0 :
+                v_ref = 1;
+                break;
+            case 1 :
+                v_ref = 2;
+                break;
+            case 2 :
+                v_ref = 3;
+                break;
+        }
+
+        speedcontrol();
+
     }
 }
 
 
-/*
-int main()
-{
-    speed = 0.09;
-    pwm = speed;
-    while(1){
-        wait(0.2);
-        enca = encoderA.getPosition();
-        cout<<enca<<endl;
-        }
-}
-*/
 
-