AES-2015 / Mbed 2 deprecated UART

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Dependencies:   mbed

Fork of UART by Krissadin Kamolpattana

Files at this revision

API Documentation at this revision

Revision 1:8eb45178d28c, committed 2015-12-15

Comitter:
BAC
Date:
Tue Dec 15 01:56:41 2015 +0000
Parent:
0:4b741d1ca320
Commit message:
feedforward

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Sun Dec 13 13:56:06 2015 +0000
+++ b/main.cpp	Tue Dec 15 01:56:41 2015 +0000
@@ -22,100 +22,222 @@
     M1.period_ms(20);
     M2.period_ms(20);
     M3.period_ms(20);
-   
+    // Home position
     M1.pulsewidth_us(1900);
     M2.pulsewidth_us(600);
     M3.pulsewidth_us(2000);
-    wait(2.0f);
+    wait(2.0);
+    
+     // first move
+    for(i=0;i<500;i++)
+    {
+        M1.pulsewidth_us(1900 - (unsigned int)(i*1.75));
+        printf("%d",1900 - (unsigned int)(i*0.853));
+    }
+    wait(2.0);
+    i=0;
+    for(i=0;i<1000;i++)
+    {
+        M3.pulsewidth_us(2000 - (unsigned int)(i*0.653));
+        printf("%d",2000 - (unsigned int)(i*0.653));
+    }
+    
+    M1.pulsewidth_us(1025);
+    M2.pulsewidth_us(591);
+    M3.pulsewidth_us(1347);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1005);
+    M2.pulsewidth_us(626);
+    M3.pulsewidth_us(1371);
+    wait(2.0);
+    
+    M1.pulsewidth_us(991);
+    M2.pulsewidth_us(630);
+    M3.pulsewidth_us(1417);
+    wait(2.0);
+    
+    M1.pulsewidth_us(985);
+    M2.pulsewidth_us(636);
+    M3.pulsewidth_us(1430);
+    wait(2.0);
+    
+    M1.pulsewidth_us(963);
+    M2.pulsewidth_us(642);
+    M3.pulsewidth_us(1445);
+    wait(2.0);
+    
+    M1.pulsewidth_us(953);
+    M2.pulsewidth_us(680);
+    M3.pulsewidth_us(1451);
+    wait(2.0);
     
-    M1.pulsewidth_us(1047);
-    M2.pulsewidth_us(600);
-    M3.pulsewidth_us(2000);
-    wait(2.0f);
+    M1.pulsewidth_us(947);
+    M2.pulsewidth_us(688);
+    M3.pulsewidth_us(1461);
+    wait(2.0);
+    
+    M1.pulsewidth_us(935);
+    M2.pulsewidth_us(710);
+    M3.pulsewidth_us(1467);
+    wait(2.0);
+    
+    M1.pulsewidth_us(913);
+    M2.pulsewidth_us(728);
+    M3.pulsewidth_us(1485);
+    wait(2.0);
+    
+    M1.pulsewidth_us(909);
+    M2.pulsewidth_us(750);
+    M3.pulsewidth_us(1503);
+    wait(2.0);
+    
+    M1.pulsewidth_us(913);
+    M2.pulsewidth_us(774);
+    M3.pulsewidth_us(1519);
+    wait(2.0);
+    
+    M1.pulsewidth_us(977);
+    M2.pulsewidth_us(792);
+    M3.pulsewidth_us(1545);
+    wait(2.0);
+    
+    M1.pulsewidth_us(999);
+    M2.pulsewidth_us(828);
+    M3.pulsewidth_us(1545);
+    wait(2.0);
+    
+    M1.pulsewidth_us(999);
+    M2.pulsewidth_us(855);
+    M3.pulsewidth_us(1570);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1023);
+    M2.pulsewidth_us(863);
+    M3.pulsewidth_us(1592);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1045);
+    M2.pulsewidth_us(875);
+    M3.pulsewidth_us(1590);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1071);
+    M2.pulsewidth_us(890);
+    M3.pulsewidth_us(1605);
+    wait(2.0);
     
-    M1.pulsewidth_us(1047);
-    M2.pulsewidth_us(600);
-    M3.pulsewidth_us(1402);
-    wait(2.0f);
+    M1.pulsewidth_us(1085);
+    M2.pulsewidth_us(898);
+    M3.pulsewidth_us(1590);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1109);
+    M2.pulsewidth_us(910);
+    M3.pulsewidth_us(1590);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1151);
+    M2.pulsewidth_us(930);
+    M3.pulsewidth_us(1611);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1163);
+    M2.pulsewidth_us(906);
+    M3.pulsewidth_us(1575);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1169);
+    M2.pulsewidth_us(864);
+    M3.pulsewidth_us(1533);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1173);
+    M2.pulsewidth_us(794);
+    M3.pulsewidth_us(1519);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1189);
+    M2.pulsewidth_us(790);
+    M3.pulsewidth_us(1511);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1215);
+    M2.pulsewidth_us(776);
+    M3.pulsewidth_us(1479);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1219);
+    M2.pulsewidth_us(752);
+    M3.pulsewidth_us(1455);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1223);
+    M2.pulsewidth_us(732);
+    M3.pulsewidth_us(1429);
+    wait(2.0);
     
-    M1.pulsewidth_us(1053);
-    M2.pulsewidth_us(591);
-    M3.pulsewidth_us(1374);
-    wait(2.0f);
+    M1.pulsewidth_us(1225);
+    M2.pulsewidth_us(704);
+    M3.pulsewidth_us(1405);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1210);
+    M2.pulsewidth_us(676);
+    M3.pulsewidth_us(1385);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1180);
+    M2.pulsewidth_us(650);
+    M3.pulsewidth_us(1370);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1156);
+    M2.pulsewidth_us(614);
+    M3.pulsewidth_us(1344);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1122);
+    M2.pulsewidth_us(596);
+    M3.pulsewidth_us(1334);
+    wait(2.0);
     
-    w1 = 1053;
-    w2 = 591;
-    w3 = 1347;
+    M1.pulsewidth_us(1104);
+    M2.pulsewidth_us(586);
+    M3.pulsewidth_us(1330);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1090);
+    M2.pulsewidth_us(566);
+    M3.pulsewidth_us(1328);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1064);
+    M2.pulsewidth_us(560);
+    M3.pulsewidth_us(1324);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1048);
+    M2.pulsewidth_us(558);
+    M3.pulsewidth_us(1320);
+    wait(2.0);
+    
+    M1.pulsewidth_us(1016);
+    M2.pulsewidth_us(580);
+    M3.pulsewidth_us(1330);
+    wait(2.0);
+    
+    w1 = 1016;
+    w2 = 580;
+    w3 = 1330;
     
     //=============================================
     
-    /*
-    M1.pulsewidth_us(1000);
-    M2.pulsewidth_us(626);
-    M3.pulsewidth_us(1369);
-    wait(1.0f);
-    
-    M1.pulsewidth_us(990);
-    M2.pulsewidth_us(640);
-    M3.pulsewidth_us(1377);
-    wait(1.0f);
-    
-    M1.pulsewidth_us(980);
-    M2.pulsewidth_us(664);
-    M3.pulsewidth_us(1379);
-    wait(1.0f);
-    
-    M1.pulsewidth_us(970);
-    M2.pulsewidth_us(688);
-    M3.pulsewidth_us(1391);
-    wait(1.0f);
-    
-    M1.pulsewidth_us(960);
-    M2.pulsewidth_us(694);
-    M3.pulsewidth_us(1397);
-    wait(1.0f);
-    
-    M1.pulsewidth_us(950);
-    M2.pulsewidth_us(724);
-    M3.pulsewidth_us(1401);
-    wait(1.0f);
+   
     
-    M1.pulsewidth_us(940);
-    M2.pulsewidth_us(752);
-    M3.pulsewidth_us(1415);
-    wait(1.0f);
-    
-    M1.pulsewidth_us(930);
-    M2.pulsewidth_us(762);
-    M3.pulsewidth_us(1424);
-    wait(1.0f);
-    
-    M1.pulsewidth_us(927);
-    M2.pulsewidth_us(766);
-    M3.pulsewidth_us(1428);
-    wait(1.0f);
-    
-    M1.pulsewidth_us(921);
-    M2.pulsewidth_us(778);
-    M3.pulsewidth_us(1434);
-    wait(1.0f);
-    
-    M1.pulsewidth_us(913);
-    M2.pulsewidth_us(794);
-    M3.pulsewidth_us(1442);
-    wait(1.0f);
-    
-    M1.pulsewidth_us(901);
-    M2.pulsewidth_us(826);
-    M3.pulsewidth_us(1458);
-    wait(1.0f);
-    */
-    /*
-    M1.pulsewidth_us(970);
-    wait(1.0f);
-    M2.pulsewidth_us(680);
-    M3.pulsewidth_us(1349);
-    wait(1.0f);*/
+   
+
+
     
     
     UART.baud(9600); // Set BuadRate