Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

main.cpp@1:80f098c05d4b, 2015-10-01 (annotated)

Committer:
annesteenbeek
Date:
Thu Oct 01 15:09:24 2015 +0200
Revision:
1:80f098c05d4b
Parent:
0:525558a26464
Child:
3:47c76be6d402
Added motor control functions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 0:525558a26464 1 #include "PID.h"
annesteenbeek 0:525558a26464 2 #include "QEI.h"
annesteenbeek 0:525558a26464 3 #include "MODSERIAL.h"
annesteenbeek 0:525558a26464 4 #include "mbed.h"
annesteenbeek 0:525558a26464 5 #include "config.h" // settings and pin configurations
annesteenbeek 0:525558a26464 6
annesteenbeek 0:525558a26464 7
annesteenbeek 0:525558a26464 8
annesteenbeek 0:525558a26464 9 #define DEBUG // send debug data to serial console
annesteenbeek 0:525558a26464 10 #define ARM // enable motors
annesteenbeek 0:525558a26464 11
annesteenbeek 1:80f098c05d4b 12 #ifdef DEBUG
annesteenbeek 1:80f098c05d4b 13 MODSERIAL pc(USBTX, USBRX);
annesteenbeek 1:80f098c05d4b 14 pc.baud(115200);
annesteenbeek 1:80f098c05d4b 15 #endif
annesteenbeek 1:80f098c05d4b 16
annesteenbeek 1:80f098c05d4b 17 enablePins();
annesteenbeek 0:525558a26464 18 motorInit();
annesteenbeek 0:525558a26464 19
annesteenbeek 0:525558a26464 20 int main()
annesteenbeek 0:525558a26464 21 {
annesteenbeek 1:80f098c05d4b 22 Timer time; // create timer object
annesteenbeek 1:80f098c05d4b 23 time.start(); // start the timer
annesteenbeek 1:80f098c05d4b 24
annesteenbeek 0:525558a26464 25 while (true) {
annesteenbeek 0:525558a26464 26 checkSwitches();
annesteenbeek 0:525558a26464 27 readEMG();
annesteenbeek 0:525558a26464 28 motorControl();
annesteenbeek 0:525558a26464 29 servoControl();
annesteenbeek 0:525558a26464 30 pumpControl();
annesteenbeek 0:525558a26464 31
annesteenbeek 0:525558a26464 32 #ifdef DEBUG
annesteenbeek 0:525558a26464 33 debugProcess();
annesteenbeek 0:525558a26464 34 #endif
annesteenbeek 0:525558a26464 35 }
annesteenbeek 0:525558a26464 36 }