Sets the Kp, Ki and Kd values of the PID controller for the encoder motors

Dependencies:   FastPWM HIDScope_motor_ff MODSERIAL QEI mbed

Fork of Encoder by Biorobotics_group_2

Revision:
1:3011d69df4a9
Parent:
0:1883abafaa19
Child:
2:5fce9d33997f
--- a/main.cpp	Mon Sep 26 09:56:23 2016 +0000
+++ b/main.cpp	Thu Oct 06 12:58:35 2016 +0000
@@ -1,35 +1,40 @@
 #include "mbed.h"
-#define SERIAL_BAUD 115200  // baud rate for serial communication
-// Homework set 1, excersize 9
-
-// Serial connection with PC
-Serial pc(USBTX,USBRX);
+// #include "HIDScope.h"
+ 
+// Define the HIDScope and Ticker object
+// HIDScope    scope(1);
+Ticker      scopeTimer;
+ 
+// Read the analog input
+AnalogIn    a0(A0);
+DigitalOut  led(LED_RED);
+ 
+const float kTimeLedToggle = .5f;  // period of blinking
+const int kLedOn=0;             // Led on if 0
+ 
+// The data read and send function
+void scopeSend()
+{
+    // scope.set(0,a0.read());
+    // scope.send();
+}
 
-AnalogIn pot(A0);
-DigitalOut led(D7);
-
-const float kTimeReadToggle = 0.5f;
-volatile float potvalue=0.0;
-
-void readanalog(){ 
-    printf("AnalogOut: %f \n\r", potvalue);
-    }
-
+void SwitchLed(){
+    led = not led;
+}
+ 
 int main()
 {
-    // Set baud connection with PC
-    pc.baud(SERIAL_BAUD);
-    pc.printf("\r\n ***THERMONUCLEAR WARFARE COMMENCES*** \r\n");
-    
-    Ticker tick_toggle_read;
-    tick_toggle_read.attach(readanalog,kTimeReadToggle);
+    led = not kLedOn;
     
-    while(true){
-        potvalue = pot.read();
-        if(pot > 0.3f){
-        led=1;
-        } else {
-        led=0;
-        }    
-        }
+    // Create ticker
+    Ticker tick_toggle_led;
+    tick_toggle_led.attach(SwitchLed,kTimeLedToggle);
+    // Attach the data read and send function at 100 Hz
+    // scopeTimer.attach(scopeSend, 1e4);
+   
+    
+    
+    
+    while(true);
 }
\ No newline at end of file