Diff: main.cpp

Revision:

0:4134d186d76d

Child:

1:fca866f76ca0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Dec 13 13:38:35 2018 +0000
@@ -0,0 +1,72 @@
+#include "mbed.h"
+#include "Usart.h"
+
+//PwmOut led(LED1);
+
+Serial Nin(PC_10,PC_11);
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+/*
+AnalogIn f0(PA_0);
+AnalogIn f1(PA_1);
+AnalogIn f2(PA_4);
+AnalogIn f3(PB_0);
+AnalogIn f4(PC_1);
+*/
+
+///M3_USART m3(PA_9,PA_10,115200);
+//Serial pc(USBTX,USBRX);
+//DigitalOut myled(LED1);
+///DigitalIn myb(USER_BUTTON);
+
+int main()
+{
+    //float k=0.5;
+    //int32_t a=0;
+    //uint8_t error;   
+    //Nex.baud(9600);
+    //Nex.format(8,Serial::None,2);
+    float force[5];
+    char tmp[5];
+    //led.period_ms(10);
+    
+    //m3.write(RG_SOFT_SRV,RG_DEFAULT, 0);
+    //wait(1);  
+///    m3.write(RG_SOFT_SRV,RG_DEFAULT, 1);   
+///    m3.write(RG_PGAIN,RG_POSITION,2500);
+///    m3.write(RG_IGAIN,RG_POSITION,0);
+///    m3.write(RG_DGAIN,RG_POSITION,1000);
+    
+   
+    while(1){      
+      for(int j = 0; j <= 4; j++){  
+        for(int i = 0;i <= 4; i++){
+           tmp[i] = Nin.getc();               
+           }    
+        force[j] = atof(tmp); 
+       }
+         
+        //duty_m = f0;  
+        //pc.printf("Duty_m:%.3f\r\n",duty_m);     
+        //pc.printf("Duty:%.3f\r\n",duty);       
+        //led.write(duty);
+        
+        pc.printf("%.3f, %.3f, %.3f, %.3f, %.3f\r\n"
+                  ,force[0],force[1],force[2],force[3],force[4]);
+        
+        //diff = duty_m-duty;
+        
+/*        a+=(int32_t)(30000*diff);
+
+
+            if(a>300000)a=300000;              
+            else if(a<0)a=0;   
+            
+            m3.write(RG_REFERENCE,RG_POSITION,a*(-1));
+            pc.printf("Stroke:%ld mm\n\r",a*2/36000);*/
+
+              
+        //wait(0.001);
+    }
+}
+