BioRobotics / Mbed 2 deprecated buttoncontrol

With this program the buttons on the biorobotics shield can be used to move the arms. both buttons pressed means shoot. Also SW3 can be pressed to adjust controller constants via Serial connection

Dependencies:   HIDScope QEI controlandadjust mbed

Diff: main.cpp

Revision:
3:bb7b6034bb7c
Parent:
2:91bf9f1765ef
Child:
4:5243e66b1fea
--- a/main.cpp	Thu Oct 08 13:15:23 2015 +0000
+++ b/main.cpp	Thu Oct 08 14:04:55 2015 +0000
@@ -95,10 +95,15 @@
     Timer schiettimer;
     schiettimer.reset();
     schiettimer.start();
-    while(schiettimer<=schiettijd) {
+    float pass=0;
+    while(schiettimer.read()<=schiettijd) {
+ // errors berekenen en naar de controller passen   
         error1=(desiredangle[0]-counttorad*encoder1.getPulses());
         error2=(desiredangle[1]-counttorad*encoder2.getPulses());
         mycontroller.PI(error1, error2, Kp, Ki, Ts_control, error1_int, error2_int);
+        
+        wait (Ts_control-(schiettimer.read()-Ts_control*pass)); // even wachten anders wordt de while loop te snel doorlopen en gaan de motoren wak
+        pass++;
     }
     schiettimer.stop();
 
@@ -110,6 +115,7 @@
 //////////////////////////////////////////////////MAIN///////////////////////////////////
 int main()
 {
+    pc.baud(115200);
     //tickers
     hidscope_ticker.attach(&scopedata_activate,1.0/hidscope_frequency);
     control_ticker.attach(&control_activate,1.0/control_frequency);