Revision 1:4bf64d003f3a, committed 2018-10-15

Comitter:

JurrienBos

Date:

Mon Oct 15 13:55:45 2018 +0000

Parent:

0:4591ba678a39

Child:

2:dc9766657afb

Commit message:

Uitgewerkte potreader die beide motoren aansturen

Changed in this revision

--- a/main.cpp	Mon Oct 15 13:32:30 2018 +0000
+++ b/main.cpp	Mon Oct 15 13:55:45 2018 +0000
@@ -2,66 +2,86 @@
 #include "MODSERIAL.h"
 MODSERIAL pc(USBTX, USBRX);
 DigitalOut DirectionPin1(D4);
+DigitalOut DirectionPin2(D7);
 PwmOut PwmPin1(D5);
+PwmOut PwmPin2(D6);
 DigitalIn Knop1(D2);
 AnalogIn pot1 (A5);
+AnalogIn pot2 (A4);
 
-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
+Ticker mycontrollerTicker1;
+Ticker mycontrollerTicker2;
+Ticker Velo1;
+Ticker Velo2;
 
-void velocityref_print()
-{
-    printer = true;
-}
-    
-void velocity()
+//const float maxVelocity=8.4; // in rad/s
+volatile float referenceVelocity1 = 0.5; //dit is de gecentreerde waarde en dus de nulstand
+volatile float referenceVelocity2 = 0.5;
+   
+void velocity1()
     {
-            if (pot1.read()>0.5f)
+            if ((pot1.read()>0.5f) || (Knop1 == true))//gezeik met die knop doet het niet ff uitzoeken nog
                 {
                 // Clockwise rotation
-                referenceVelocity = (pot1.read()-0.5f) * 2.0f; 
+                referenceVelocity1 = (pot1.read()-0.5f) * 2.0f; 
                 }
             
-            else if (pot1.read() == 0.5f)
+            else if (pot1.read() == 0.5f || !Knop1 == (pot1.read()<0.5f))
             {
-                referenceVelocity = pot1.read() * 0.0f; 
+                referenceVelocity1 = pot1.read() * 0.0f; 
             } 
             
             else if (pot1.read() < 0.5f)
                 {
                 // Counterclockwise rotation      
-                referenceVelocity = 2.0f * (pot1.read()-0.5f) ;
+                referenceVelocity1 = 2.0f * (pot1.read()-0.5f) ;
                 }
-        
     }
     
-    void motor()
+void velocity2()
+    {
+            if (pot2.read()>0.5f)
+                {
+                // Clockwise rotation
+                referenceVelocity2 = (pot2.read()-0.5f) * 2.0f; 
+                }
+            
+            else if (pot2.read() == 0.5f)
+            {
+                referenceVelocity2 = pot2.read() * 0.0f; 
+            } 
+            
+            else if (pot2.read() < 0.5f)
+                {
+                // Counterclockwise rotation      
+                referenceVelocity2 = 2.0f * (pot2.read()-0.5f) ;
+                }
+    }    
+    
+void motor1()
     {  
-        float u = referenceVelocity;
+        float u = referenceVelocity1;
         DirectionPin1 = u < 0.0f;
         PwmPin1 = fabs(u);
     }
 
+void motor2()
+    {  
+        float u = referenceVelocity2;
+        DirectionPin2 = u > 0.0f;
+        PwmPin2 = 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);
+    mycontrollerTicker1.attach(motor1, 0.002);//500Hz
+    Velo1.attach(velocity1, 0.002);
+    mycontrollerTicker2.attach(motor2, 0.002);
+    Velo2.attach(velocity2, 0.002);
+    
     while(true)
     {        
-        if (printer)
-        {
-        pc.printf("%f   \n",referenceVelocity);
-        pc.printf("%f   \n",pot1.read());
-        printer = false;
-        }
     }
-}
-    
+}
\ No newline at end of file