Mouse code for the MacroRat
main.cpp
- Committer:
- sahilmgandhi
- Date:
- 2017-05-05
- Revision:
- 7:6f5cb6377bd4
- Parent:
- 6:3d68fedd6fd9
- Child:
- 8:a0760acdc59e
File content as of revision 7:6f5cb6377bd4:
#include "mbed.h" #include "irpair.h" #include "main.h" #include "motor.h" #include <stdlib.h> #include "ITG3200.h" #include "QEI.h" // PID #define P_CONSTANT 0.0025 #define I_CONSTANT 0.0000025 #define D_CONSTANT 0.25 int main() { enableMotors(); //Set highest bandwidth. gyro.setLpBandwidth(LPFBW_42HZ); serial.baud(9600); serial.printf("The gyro's address is %s", gyro.getWhoAmI()); wait (0.1); // IR_1.write(1); // IR_2.write(1); // IR_3.write(1); // IR_4.write(1); redLed.write(1); greenLed.write(0); blueLed.write(1); rightWheelForward(0.1); leftWheelForward(0.1); while (1) { wait(0.1); serial.printf("%i, %i, %i\n", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ()); //reading = Rec_4.read(); // serial.printf("reading: %f\n", reading); // redLed.write(0); // wait_ms(1000); // redLed.write(1); // greenLed.write(0); // wait_ms(1000); // greenLed.write(1); // blueLed.write(0); // wait_ms(1000); // blueLed.write(1); } }