Cool-step / Mbed 2 deprecated cool_step_new

first publish

Dependencies:   MPU9150_DMP MotorControl QuaternionMath SimpleIOMacros mbed

Fork of cool_step by Siner Gokhan Yilmaz

Files at this revision

API Documentation at this revision

Revision 25:af166a728c89, committed 2015-06-12

Comitter:
heuristics
Date:
Fri Jun 12 06:42:56 2015 +0000
Parent:
24:fa52fd530d6e
Commit message:
12.6.2015

Changed in this revision

QuaternionMath.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r fa52fd530d6e -r af166a728c89 QuaternionMath.lib
--- a/QuaternionMath.lib	Tue Jun 02 06:51:34 2015 +0000
+++ b/QuaternionMath.lib	Fri Jun 12 06:42:56 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/teams/TobyRich-GmbH/code/QuaternionMath/#08d9c0010cc0
+http://developer.mbed.org/teams/TobyRich-GmbH/code/QuaternionMath/#69f240dbf0df

diff -r fa52fd530d6e -r af166a728c89 main.cpp
--- a/main.cpp	Tue Jun 02 06:51:34 2015 +0000
+++ b/main.cpp	Fri Jun 12 06:42:56 2015 +0000
@@ -10,11 +10,9 @@
 DigitalOut led1(P2_6);
 DigitalOut led2(P2_7);
 DigitalOut led3(P2_8);
-AnalogIn hallSensor(P0_26);
 float P=0,I=0,D=0;
 int pulsesMotor2=0,pulsesMotor1=0;
 int int_time=0,bint_time=0;
-//InterruptIn hall1_(P0_5), hall2_(P0_4);
 
 
 Serial RN42(P0_10, P0_11);
@@ -28,12 +26,12 @@
 
 MPU9150 imu(P0_28, P0_27, P2_13);
 
-//Hallsensor hall2(P0_4, P0_5);
 Motor motor2(P2_2, P2_3, pulsesMotor2);
 
-//Hallsensor hall1(P1_26, P1_27);
-
 Motor motor1(P2_0, P2_1, pulsesMotor1);
+AnalogIn sg1(P0_24);
+AnalogIn sg2(P0_23);
+AnalogIn hallSensor(P0_26);
 char buffer[200];
 void infoTask(void)
 {
@@ -129,7 +127,6 @@
     timer.start();
     timer2.start();
 
-    //motor2.setVelocity(0.7);
     imu.setFifoReset(true);
     imu.setDMPEnabled(true);
 
@@ -187,14 +184,14 @@
             */
             q1.decode(buffer);
 
-            debug.printf("%f, ",hallSensor.read());
+            debug.printf("%f, %f ", sg1.read(),sg2.read());
             debug.printf("%f, %f, %f, %f ", q1.w, q1.v.x, q1.v.y, q1.v.z);
 
-            Vector3 vector_x(1,0,0),vector_y(0,1,0),vector_z(0,0,1);
+           
             Vector3 pry=q1.getEulerAngles();
             debug.printf("p: %f r: %f y: %f ",pry.x/PI*180,pry.y/PI*180,pry.z/PI*180);
-            debug.printf("m1: %.2f m2: %.2f ",motor1.getAngle(),motor2.getAngle());
-            debug.printf("dt1: %f dt2: %f ",motor1.get_dt(),motor2.get_dt());
+           // debug.printf("m1: %.2f m2: %.2f ",motor1.getAngle(),motor2.getAngle());
+            //debug.printf("dt1: %f dt2: %f ",motor1.get_dt(),motor2.get_dt());
             debug.printf("P: %f I: %f I: %f  \r\n ",P,I,D);
             getCommand();
             /*  if(!motor1.isRunning()) {