Mouse code for the MacroRat
Diff: main.cpp
- Revision:
- 4:b5b7836ca2b0
- Parent:
- 3:880f15be8c72
- Child:
- 6:3d68fedd6fd9
--- a/main.cpp Fri Apr 28 01:08:29 2017 +0000 +++ b/main.cpp Fri Apr 28 02:13:24 2017 +0000 @@ -1,32 +1,17 @@ #include "mbed.h" + +#include "irled.h" +#include "main.h" +#include "motor.h" + #include <stdlib.h> #include "ITG3200.h" - -DigitalOut redLed(PC_0); -DigitalOut blueLed(PC_1); -DigitalOut greenLed(PC_2); - -DigitalOut IR_1(PB_1); -DigitalOut IR_2(PB_13); -DigitalOut IR_3(PB_0); -DigitalOut IR_4(PB_14); +// PID +#define P_CONSTANT 0.0025 +#define I_CONSTANT 0.0000025 +#define D_CONSTANT 0.25 -AnalogIn Rec_1(PC_5); -AnalogIn Rec_2(PC_4); -AnalogIn Rec_3(PA_6); -AnalogIn Rec_4(PA_7); - -Serial serial(PC_6, PC_7); - -ITG3200 gyro(PC_9, PA_8); - - -volatile double reading = 0; - -int gyroX = 0; -int gyroY = 0; -int gyroZ = 0; int main() {