BE@R lab / Mbed 2 deprecated MX_control

test

Dependencies:   MX28 iSerial mbed

Fork of MX_control by FIBO

classproject.cpp@1:0a652990dab1, 2014-10-24 (annotated)

Committer:
soulx
Date:
Fri Oct 24 08:57:50 2014 +0000
Revision:
1:0a652990dab1
Parent:
0:c98ac0a05620
Child:
2:7f9d2f135591
add mode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soulx 0:c98ac0a05620 1 #include "mbed.h"
soulx 0:c98ac0a05620 2 #include "MX28.h"
soulx 0:c98ac0a05620 3
soulx 1:0a652990dab1 4 //config param
soulx 1:0a652990dab1 5 //-motor robotis
soulx 0:c98ac0a05620 6 #define ID_ROLL 1
soulx 0:c98ac0a05620 7 #define ID_PITCH 2
soulx 1:0a652990dab1 8 #define BANDRATE_MOTOR 1000000
soulx 0:c98ac0a05620 9
soulx 1:0a652990dab1 10
soulx 1:0a652990dab1 11 //param calibration
soulx 1:0a652990dab1 12 #define CENTER_ROLL 512
soulx 1:0a652990dab1 13 #define CENTER_PITCH 512
soulx 1:0a652990dab1 14
soulx 1:0a652990dab1 15
soulx 0:c98ac0a05620 16
soulx 0:c98ac0a05620 17 Serial pc(USBTX, USBRX);
soulx 1:0a652990dab1 18 MX28 mx28(PA_11, PA_12, BANDRATE_MOTOR);
soulx 1:0a652990dab1 19
soulx 1:0a652990dab1 20 DigitalIn mybutton(USER_BUTTON);
soulx 1:0a652990dab1 21
soulx 1:0a652990dab1 22 //function prototype
soulx 1:0a652990dab1 23 void setup_mode();
soulx 1:0a652990dab1 24 void run_mode();
soulx 1:0a652990dab1 25
soulx 0:c98ac0a05620 26
soulx 0:c98ac0a05620 27 int main()
soulx 0:c98ac0a05620 28 {
soulx 0:c98ac0a05620 29 pc.baud(115200);
soulx 0:c98ac0a05620 30 pc.printf("======================================================\r\n");
soulx 1:0a652990dab1 31 if(mybutton == 0)
soulx 1:0a652990dab1 32 {//Setup mode
soulx 1:0a652990dab1 33 pc.printf("Setup Mode\r\n");
soulx 1:0a652990dab1 34 setup_mode();
soulx 1:0a652990dab1 35 }
soulx 1:0a652990dab1 36 else
soulx 1:0a652990dab1 37 {//Run mode
soulx 1:0a652990dab1 38 pc.printf("Run Mode\r\n");
soulx 1:0a652990dab1 39 run_mode();
soulx 1:0a652990dab1 40 }
soulx 1:0a652990dab1 41 return 0;
soulx 1:0a652990dab1 42 }
soulx 1:0a652990dab1 43
soulx 1:0a652990dab1 44 void setup_mode()
soulx 1:0a652990dab1 45 {
soulx 0:c98ac0a05620 46
soulx 1:0a652990dab1 47 }
soulx 1:0a652990dab1 48
soulx 1:0a652990dab1 49 void run_mode()
soulx 1:0a652990dab1 50 {
soulx 1:0a652990dab1 51
soulx 0:c98ac0a05620 52 }