BA
sfbsg
Dependencies: mbed
Diff: main.cpp
- Revision:
- 0:8ab621116ccd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Apr 03 15:17:11 2018 +0000
@@ -0,0 +1,34 @@
+#include "mbed.h"
+#include "math.h"
+//------------------------------------------
+#define PI 3.1415927f
+//------------------------------------------
+#include "EncoderCounter.h"
+#include "DiffCounter.h"
+#include "IIR_filter.h"
+#include "LinearCharacteristics.h"
+
+PwmOut pwm1(PA_5);
+
+float inc2rad = 2.0f*3.1415927f/(4.0f*6400.0);
+
+int main()
+{
+
+ EncoderCounter counter1(PB_6, PB_7);
+ DiffCounter diffc(0.9f,0.05f);
+
+
+ pwm1.period(0.00005f);
+
+ while(1) {
+ short inc = counter1.read();
+ float velocity = diffc(inc);
+ printf("angle = %.2f velocity = %.2f\r\n",inc*inc2rad,velocity);
+
+ pwm1.write(0.5f);
+ wait(0.05f);
+ }
+}
+
+