ENPRA_Foot / Mbed 2 deprecated Nucleo_Motor_5_1

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Dependencies:   mbed M3_CAN_mbed

main.cpp

Committer:
hiroshi1996
Date:
2018-12-13
Revision:
0:4134d186d76d
Child:
1:fca866f76ca0

File content as of revision 0:4134d186d76d:

#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);
    }
}