Brighton de Jong
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Dependencies: HIDScope MODSERIAL Matrix QEI biquadFilter mbed
Fork of
Turning_Motor_V6
by 
Brighton de Jong
Revision 0:4591ba678a39, committed 2018-10-15
- Comitter:
- JurrienBos
- Date:
- Mon Oct 15 13:32:30 2018 +0000
- Child:
- 1:4bf64d003f3a
- Commit message:
- Motor kan draaien in beide richtingen met aansturing van 1 pot meter. Dit implementeren in het eindscript. Geldt tot nog toe voor 1 motor
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Mon Oct 15 13:32:30 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Sissors/code/MODSERIAL/#da0788f0bd77
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 15 13:32:30 2018 +0000
@@ -0,0 +1,67 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+MODSERIAL pc(USBTX, USBRX);
+DigitalOut DirectionPin1(D4);
+PwmOut PwmPin1(D5);
+DigitalIn Knop1(D2);
+AnalogIn pot1 (A5);
+
+Ticker mycontrollerTicker;
+Ticker printTicker;
+Ticker Velo;
+volatile bool printer;
+const float maxVelocity=8.4; // in rad/s
+volatile float referenceVelocity = 0.5; //dit is de gecentreerde waarde en dus de nulstand
+
+void velocityref_print()
+{
+ printer = true;
+}
+
+void velocity()
+ {
+ if (pot1.read()>0.5f)
+ {
+ // Clockwise rotation
+ referenceVelocity = (pot1.read()-0.5f) * 2.0f;
+ }
+
+ else if (pot1.read() == 0.5f)
+ {
+ referenceVelocity = pot1.read() * 0.0f;
+ }
+
+ else if (pot1.read() < 0.5f)
+ {
+ // Counterclockwise rotation
+ referenceVelocity = 2.0f * (pot1.read()-0.5f) ;
+ }
+
+ }
+
+ void motor()
+ {
+ float u = referenceVelocity;
+ DirectionPin1 = u < 0.0f;
+ PwmPin1 = fabs(u);
+ }
+
+
+int main()
+{
+ pc.baud(115200);
+ PwmPin1.period_us(120); //60 microseconds pwm period, 16.7 kHz
+ mycontrollerTicker.attach(motor, 0.002);//500Hz
+ printTicker.attach(velocityref_print, 0.5);
+ Velo.attach(velocity, 0.002);
+ while(true)
+ {
+ if (printer)
+ {
+ pc.printf("%f \n",referenceVelocity);
+ pc.printf("%f \n",pot1.read());
+ printer = false;
+ }
+ }
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Oct 15 13:32:30 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187 \ No newline at end of file