40 lines
825 B
C
40 lines
825 B
C
#include <msp430.h>
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#include "typedefExtention.h"
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#include "SPI.h"
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#include "motorDriver.h"
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#include "motionController.h"
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/**
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* main.c
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*/
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int main(void)
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{
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int v;
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WDTCTL = WDTPW | WDTHOLD; // stop watchdog timer
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// set cpu op 16MHz
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BCSCTL1 = CALBC1_16MHZ;
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DCOCTL = CALDCO_16MHZ;
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SPIInit();
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// wait some time so the other ic have some time to start
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__delay_cycles (1000000);
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MDInit(); // initilize motor driver
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MCInit(); // initilize motion controller
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// set snelheid van motor op 50 (ongeveer 1.7 mm/s of 6 meter/uur)
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v = 50;
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MCSetV(1, v);
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// start een oneinige loop dit elke seconde de senlhied veranderd naar een (pseudo) random waarde
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while(1){
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__delay_cycles (15500000);
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v = 2047.0 * sin((double) v);
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MCSetV(1, v);
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}
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}
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