Betago / Mbed 2 deprecated BETAGO

10/25/2015

Dependencies:   PID mbed MaxSonar eeprom iSerial Fork_Boss_Communication_Robot

main.cpp@1:7c3dbf140bfc, 2015-10-18 (annotated)

Committer:
palmdotax
Date:
Sun Oct 18 18:48:47 2015 +0000
Revision:
1:7c3dbf140bfc
Parent:
0:f02641e3fb91
Child:
2:933d3edf38da
v.1.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
palmdotax 0:f02641e3fb91 1 #include"mbed.h"
palmdotax 1:7c3dbf140bfc 2 #include "move.h"
palmdotax 0:f02641e3fb91 3 #include "PID.h"
palmdotax 1:7c3dbf140bfc 4
palmdotax 0:f02641e3fb91 5 InterruptIn encoderA(D6);
palmdotax 0:f02641e3fb91 6 InterruptIn encoderB(D5);
palmdotax 1:7c3dbf140bfc 7 move m1;
palmdotax 1:7c3dbf140bfc 8
palmdotax 1:7c3dbf140bfc 9 PID P1(0.001,0.005,0,0.1);
palmdotax 0:f02641e3fb91 10
palmdotax 0:f02641e3fb91 11 //DigitalIn encoderB(D5);
palmdotax 0:f02641e3fb91 12
palmdotax 0:f02641e3fb91 13
palmdotax 0:f02641e3fb91 14 Serial pc(SERIAL_TX,SERIAL_RX);
palmdotax 0:f02641e3fb91 15 int Encoderpos = 0;
palmdotax 1:7c3dbf140bfc 16 float valocity =0;
palmdotax 1:7c3dbf140bfc 17 float outPID =0;
palmdotax 0:f02641e3fb91 18
palmdotax 0:f02641e3fb91 19 void EncoderA()
palmdotax 0:f02641e3fb91 20 { if(encoderB==0)
palmdotax 0:f02641e3fb91 21 { Encoderpos = Encoderpos + 1;}
palmdotax 0:f02641e3fb91 22 else
palmdotax 0:f02641e3fb91 23 { Encoderpos = Encoderpos -1;}
palmdotax 1:7c3dbf140bfc 24
palmdotax 0:f02641e3fb91 25 //Encoderpos = Encoderpos + 1;
palmdotax 0:f02641e3fb91 26 valocity+=1;
palmdotax 1:7c3dbf140bfc 27 // pc.printf("%d \n",Encoderpos);
palmdotax 0:f02641e3fb91 28 }
palmdotax 0:f02641e3fb91 29
palmdotax 0:f02641e3fb91 30
palmdotax 0:f02641e3fb91 31 void EncoderB()
palmdotax 0:f02641e3fb91 32 {
palmdotax 0:f02641e3fb91 33 if(encoderA==1)
palmdotax 0:f02641e3fb91 34 { Encoderpos = Encoderpos + 1;}
palmdotax 0:f02641e3fb91 35 else
palmdotax 0:f02641e3fb91 36 { Encoderpos = Encoderpos -1;}
palmdotax 0:f02641e3fb91 37 pc.printf("%d",Encoderpos);
palmdotax 0:f02641e3fb91 38 }
palmdotax 0:f02641e3fb91 39
palmdotax 0:f02641e3fb91 40 int main()
palmdotax 0:f02641e3fb91 41 {
palmdotax 1:7c3dbf140bfc 42
palmdotax 0:f02641e3fb91 43 pc.baud(115200);
palmdotax 0:f02641e3fb91 44 encoderA.rise(&EncoderA);
palmdotax 1:7c3dbf140bfc 45 //pc.printf("Encode\n");
palmdotax 1:7c3dbf140bfc 46 P1.setMode(0);
palmdotax 1:7c3dbf140bfc 47 P1.setProcessValue(0.7);
palmdotax 1:7c3dbf140bfc 48 P1.setSetPoint(0.8);
palmdotax 1:7c3dbf140bfc 49 // P1.setBias(0);
palmdotax 0:f02641e3fb91 50 while(1)
palmdotax 1:7c3dbf140bfc 51 { P1.setProcessValue(0.7);
palmdotax 1:7c3dbf140bfc 52 P1.setSetPoint(0.8);
palmdotax 1:7c3dbf140bfc 53 outPID=P1.compute();
palmdotax 1:7c3dbf140bfc 54 // pc.printf("palm \n");
palmdotax 1:7c3dbf140bfc 55 pc.printf("%f \n",outPID);
palmdotax 1:7c3dbf140bfc 56 wait(1);
palmdotax 1:7c3dbf140bfc 57
palmdotax 0:f02641e3fb91 58 // pc.printf("%d \n",Encoderpos);
palmdotax 0:f02641e3fb91 59
palmdotax 0:f02641e3fb91 60 }
palmdotax 0:f02641e3fb91 61 }