BA / Mbed 2 deprecated RT2_P3_DAC_test

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Show/hide line numbers main.cpp Source File

main.cpp

00001 #include "mbed.h"
00002 #include "math.h"
00003 //------------------------------------------
00004 #define PI 3.1415927f
00005 //------------------------------------------
00006 #include "EncoderCounter.h"
00007 #include "DiffCounter.h"
00008 #include "IIR_filter.h"
00009 #include "LinearCharacteristics.h"
00010 
00011 PwmOut pwm1(PA_5);
00012 
00013 float inc2rad = 2.0f*3.1415927f/(4.0f*6400.0);
00014 
00015 int main()
00016 {
00017 
00018     EncoderCounter counter1(PB_6, PB_7);
00019     DiffCounter diffc(0.9f,0.05f);
00020 
00021 
00022     pwm1.period(0.00005f);
00023 
00024     while(1) {
00025         short inc = counter1.read();
00026         float velocity = diffc(inc);
00027         printf("angle = %.2f velocity = %.2f\r\n",inc*inc2rad,velocity);
00028 
00029         pwm1.write(0.5f);
00030         wait(0.05f);
00031     }
00032 }
00033 
00034
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