hello
Dependencies: AVEncoder QEI mbed-src-AV
main.cpp
- Committer:
- intgsull
- Date:
- 2015-10-20
- Revision:
- 1:5b9fa1823663
- Parent:
- 0:fa523db3f4f5
- Child:
- 2:5f9b78950a17
File content as of revision 1:5b9fa1823663:
#include "mbed.h" #include "QEI.h" PwmOut motor1_reverse(PB_4); PwmOut motor1_forward(PB_10); PwmOut motor2_forward(PA_7); PwmOut motor2_reverse(PB_6); // DigitalIn encoder1A(PC_15); DigitalIn encoder1B(PB_3); DigitalIn enconder2A(PA_1); DigitalIn enconder2B(PA_2); // we need to check things now. DigitalOut myled(LED1); QEI LENC (PC_15, PB_3, NC, 100 ); QEI RENC (PA_1, PA_10, NC, 100 ); int distance = 0; void rightForward(float speed); void leftForward(float speed); Serial pc (USBTX, USBRX); int main() { LENC.reset(); RENC.reset(); pc. printf ( "Hello World!!!!!!\r\n" ); myled = 0; while(1) { // motor1_reverse = 0.5; // motor1_forward = 0; // // motor2_forward = 0.5; // motor2_reverse = 0; motor1_reverse = 0; motor1_forward = 0; motor2_forward = 0; motor2_reverse = 0; int in = encoder1A.read(); while ( in == 1 ) { myled = 1; wait(4); in = encoder1A.read(); } while ( in == 0 ) { myled = 0; in = encoder1A.read(); } } // // motor1_reverse = 1.0; // motor1_forward = 1.0; // // motor2_forward = 1.0; // motor2_reverse = 1.0; //rightForward(0.5); //leftForward(-0.5); } void moveForward(float speed) { motor1_forward = speed; motor2_forward = speed; motor1_reverse = 0; motor2_reverse = 0; } void rightForward(float speed) { if (speed == 0) { motor1_forward = 1.0; motor1_reverse = 1.0; } if (speed > 0) { motor1_forward = speed; motor1_reverse = 0; } else { motor1_forward = 0; motor1_reverse = -speed; } } void leftForward(float speed) { if (speed == 0) { motor2_forward = 1.0; motor2_reverse = 1.0; } if (speed > 0) { motor2_forward = speed; motor2_reverse = 0; } else { motor2_forward = 0; motor2_reverse = -speed; } }