Diff: main.cpp

Revision:

0:61f4586742be

Child:

1:9c75e4cca419

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 31 09:12:19 2018 +0000
@@ -0,0 +1,31 @@
+#include "mbed.h"
+
+Motor motor1(D6, D7, D13, D12);             // Defining motor pins (PWM, direction, encoder)
+Motor motor2(D5, D4, D10, D11);             // Defining motor pins (PWM, direction, encoder)
+
+const double Kp = 10.0;
+const double Ki = 0.1;
+const double Kd = 0.5;
+
+Ticker motor_cali;
+
+void Motor_Calibration()
+{
+    float motor_angle1 = motor1.get_current_angle;
+    motor_angle1--;
+    motor1.set_target_angle(motor_angle1);   
+    
+    float motor_angle2 = motor2.get_current_angle;
+    motor_angle2--;
+    motor2.set_target_angle(motor_angle2);
+}
+
+int main()
+{
+    motor1.set_pid_k_values(Kp, Ki, Kd);    // Attach PID-controller
+    motor2.set_pid_k_values(Kp, Ki, Kd);
+    motor1.start(pid_period)                // Attach PID time
+    motor2.start(pid_period);
+    motor.attach(Motor_Calibration,0.5);    // Ticker for motor calibration fucntion
+    while (true) {}                         // Empty while loop to keep function from stopping
+}
\ No newline at end of file