Eindversie. LU: 07-11-13.
Dependencies: MODSERIAL mbed Encoder
Revision 11:28a196a3d898, committed 2013-10-23
- Comitter:
- Socrates
- Date:
- Wed Oct 23 13:32:39 2013 +0000
- Parent:
- 10:2e66843bb6d7
- Child:
- 12:100cbba6cd96
- Commit message:
- Werkt op x, met duty cycle
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Oct 21 13:52:39 2013 +0000 +++ b/main.cpp Wed Oct 23 13:32:39 2013 +0000 @@ -5,11 +5,12 @@ //Rechts is x, links is y AnalogIn emgtl(PTB1); AnalogIn emgbl(PTB0); -//PwmOut pwm_x(PTA5); -//PwmOut pwm_y(PTA12); -AnalogOut pwm_x(PTE30); +PwmOut pwm_x(PTA5); +PwmOut pwm_y(PTA12); +//AnalogOut pwm_x(PTE30); MODSERIAL pc(USBTX,USBRX); + volatile bool looptimerflag; void setlooptimerflag(void) @@ -19,6 +20,8 @@ int main() { +pwm_x.period(1.0/1000.0); +pwm_y.period(1.0/1000.0); Ticker looptimer; const float ts=0.001; looptimer.attach(setlooptimerflag,ts); @@ -27,7 +30,8 @@ float xbr,ybr,y1br,x1br,zbr,z1br,z2br,yabsbr,yabs1br,yabs2br,kbr; float xtl,ytl,y1tl,x1tl,ztl,z1tl,z2tl,yabstl,yabs1tl,yabs2tl,ktl; float xbl,ybl,y1bl,x1bl,zbl,z1bl,z2bl,yabsbl,yabs1bl,yabs2bl,kbl; - float zx,zy,xdir,ydir; + float zx,zy; + float xdir,ydir; x1tr=0; y1tr=0; z1tr=0; z2tr=0; yabs1tr=0; yabs2tr=0; x1br=0; y1br=0; z1br=0; z2br=0; yabs1br=0; yabs2br=0; @@ -83,10 +87,10 @@ x1bl=xbl; y1bl=ybl; z2bl=z1bl; z1bl=zbl; yabs2bl=yabs1bl; yabs1bl=yabsbl; if (ztr>zbr) { - zx=ztr*5.0; + zx=ztr*2.5; xdir=0; } else { - zx=zbr*5.0; + zx=zbr*2.5; xdir=1; } @@ -105,15 +109,15 @@ zy=0.99999; } - if (zx<0.35){ + if (zx<0.20){ zx=0; } - if (zy<0.35){ + if (zy<0.20){ zy=0; } - //pwm_x.write(abs(zx)); - //pwm_y.write(abs(zy)); - pc.printf("%f\n\r",kbr); + pwm_x.write(abs(zx)); + pwm_y.write(abs(zy)); + pc.printf("%f\n\r",zx); } } \ No newline at end of file