jkfodk
Dependencies: Encoder MODSERIAL mbed
Revision 1:7cafc9042056, committed 2013-10-25
- Comitter:
- Tess
- Date:
- Fri Oct 25 09:22:16 2013 +0000
- Parent:
- 0:f492ec86159e
- Child:
- 2:83dd9068b6c5
- Commit message:
- refresh from previous one
;
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
mbed.lib | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Oct 25 08:07:43 2013 +0000 +++ b/main.cpp Fri Oct 25 09:22:16 2013 +0000 @@ -52,38 +52,51 @@ /* variable to store pwm value in*/ float pwm_to_motorA; float pwm_to_motorB; - int32_t beginpositiemotorA_t0; - int32_t beginpositiemotorB_t0; + int32_t positionmotorA_t0; + int32_t positionmotorB_t0; + int32_t positionmotorA_t_1; + int32_t positionmotorB_t_1; + int32_t startingpositionmotorA; + int32_t startingpositionmotorB; + int32_t velocity_motorA; + int32_t velocity_motorB; + //START OF CODE /*Set the baudrate (use this number in RealTerm too! */ pc.baud(921600); -// wil dat 20 seconden de motor rechtsom gaat draaien + // in dit stukje code zorgen we ervoor dat de startpositie wordt bereikt. motordirA.write(0); + pwm_motorA.write(.05); + positionmotorA_t0 = motorA.getPosition(); + do { + wait(0.02); + positionmotorA_t_1 = positionmotorA_t0 ; + positionmotorA_t0 = motorA.getPosition(); + velocity_motorA = (positionmotorA_t0 - positionmotorA_t_1) / 0.02; + } while(velocity_motorA <= 0.01); + startingpositionmotorA = motorA.getPosition(); + motordirB.write(0); - pwm_motorA.write(.1); - pwm_motorB.write(.1); - - do - { - //wacht - //schuif t0 / t1 - lees encoder - - }while(posititie ongelijk); - - - - - + pwm_motorB.write(.05); + positionmotorB_t0 = motorB.getPosition(); + do { + wait(0.02); + positionmotorB_t_1 = positionmotorB_t0; + positionmotorB_t0 = motorB.getPosition(); + velocity_motorB = (positionmotorB_t0 - positionmotorB_t_1) / 0.02; + } while(velocity_motorB <= 0.01); + startingpositionmotorB = motorB.getPosition(); + + /*Create a ticker, and let it call the */ /*function 'setlooptimerflag' every 0.01s */ Ticker looptimer; looptimer.attach(setlooptimerflag,0.01); - //INFINITE LOOP + //INFINITE LOOP while(1) { /* Wait until looptimer flag is true. */ /* '!=' means not-is-equal */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.lib Fri Oct 25 09:22:16 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/#f37f3b9c9f0b