MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

main.cpp@4:b5b7836ca2b0, 2017-04-28 (annotated)

Committer:
kyleliangus
Date:
Fri Apr 28 02:13:24 2017 +0000
Revision:
4:b5b7836ca2b0
Parent:
3:880f15be8c72
Child:
6:3d68fedd6fd9
Added Modularity, Motors

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 0:a03c771ab78e 1 #include "mbed.h"
kyleliangus 4:b5b7836ca2b0 2
kyleliangus 4:b5b7836ca2b0 3 #include "irled.h"
kyleliangus 4:b5b7836ca2b0 4 #include "main.h"
kyleliangus 4:b5b7836ca2b0 5 #include "motor.h"
kyleliangus 4:b5b7836ca2b0 6
sahilmgandhi 0:a03c771ab78e 7 #include <stdlib.h>
sahilmgandhi 1:8a4b2f573923 8 #include "ITG3200.h"
sahilmgandhi 0:a03c771ab78e 9
kyleliangus 4:b5b7836ca2b0 10 // PID
kyleliangus 4:b5b7836ca2b0 11 #define P_CONSTANT 0.0025
kyleliangus 4:b5b7836ca2b0 12 #define I_CONSTANT 0.0000025
kyleliangus 4:b5b7836ca2b0 13 #define D_CONSTANT 0.25
sahilmgandhi 0:a03c771ab78e 14
christine222 3:880f15be8c72 15
sahilmgandhi 0:a03c771ab78e 16 int main()
sahilmgandhi 0:a03c771ab78e 17 {
christine222 3:880f15be8c72 18 //Set highest bandwidth.
sahilmgandhi 1:8a4b2f573923 19 gyro.setLpBandwidth(LPFBW_42HZ);
christine222 3:880f15be8c72 20 serial.baud(9600);
christine222 3:880f15be8c72 21
sahilmgandhi 1:8a4b2f573923 22 wait (0.1);
christine222 3:880f15be8c72 23
christine222 3:880f15be8c72 24 // IR_1.write(1);
sahilmgandhi 2:771db996cee0 25 // IR_2.write(1);
sahilmgandhi 2:771db996cee0 26 // IR_3.write(1);
sahilmgandhi 2:771db996cee0 27 // IR_4.write(1);
christine222 3:880f15be8c72 28
sahilmgandhi 2:771db996cee0 29 redLed.write(1);
sahilmgandhi 2:771db996cee0 30 greenLed.write(0);
sahilmgandhi 2:771db996cee0 31 blueLed.write(1);
sahilmgandhi 1:8a4b2f573923 32
christine222 3:880f15be8c72 33 while (1) {
christine222 3:880f15be8c72 34
christine222 3:880f15be8c72 35 wait(0.1);
christine222 3:880f15be8c72 36 serial.printf("%i, %i, %i\n", gyro.getGyroX(), gyro.getGyroY(), gyro.getGyroZ());
christine222 3:880f15be8c72 37
christine222 3:880f15be8c72 38 //reading = Rec_4.read();
christine222 3:880f15be8c72 39 // serial.printf("reading: %f\n", reading);
sahilmgandhi 1:8a4b2f573923 40 // redLed.write(0);
sahilmgandhi 1:8a4b2f573923 41 // wait_ms(1000);
sahilmgandhi 1:8a4b2f573923 42 // redLed.write(1);
sahilmgandhi 1:8a4b2f573923 43 // greenLed.write(0);
sahilmgandhi 1:8a4b2f573923 44 // wait_ms(1000);
sahilmgandhi 1:8a4b2f573923 45 // greenLed.write(1);
sahilmgandhi 1:8a4b2f573923 46 // blueLed.write(0);
sahilmgandhi 1:8a4b2f573923 47 // wait_ms(1000);
sahilmgandhi 1:8a4b2f573923 48 // blueLed.write(1);
christine222 3:880f15be8c72 49 }
sahilmgandhi 0:a03c771ab78e 50 }