ES305H Lanier Turchan / Mbed 2 deprecated GainController

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Dependencies:   QEI mbed

GainControl.cpp@0:8d7b6e55609a, 2015-03-24 (annotated)

Committer:
LanierUSNA16
Date:
Tue Mar 24 13:13:00 2015 +0000
Revision:
0:8d7b6e55609a
Child:
1:d4c2e72540db
Moving plus angle;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LanierUSNA16 0:8d7b6e55609a 1 #include "mbed.h"
LanierUSNA16 0:8d7b6e55609a 2 #include "QEI.h"
LanierUSNA16 0:8d7b6e55609a 3
LanierUSNA16 0:8d7b6e55609a 4 PwmOut turret_speed(p21);
LanierUSNA16 0:8d7b6e55609a 5 DigitalOut turret_direction(p22);
LanierUSNA16 0:8d7b6e55609a 6
LanierUSNA16 0:8d7b6e55609a 7 QEI myEncoder (p16,p15, NC, 1600);
LanierUSNA16 0:8d7b6e55609a 8 Timer t;
LanierUSNA16 0:8d7b6e55609a 9
LanierUSNA16 0:8d7b6e55609a 10 int main()
LanierUSNA16 0:8d7b6e55609a 11 {
LanierUSNA16 0:8d7b6e55609a 12 int input_dc =50;
LanierUSNA16 0:8d7b6e55609a 13 int user_direction = 0;
LanierUSNA16 0:8d7b6e55609a 14 float duty_cycle = 0.6;
LanierUSNA16 0:8d7b6e55609a 15 int pulses = 0;
LanierUSNA16 0:8d7b6e55609a 16 float theta = 0.0;
LanierUSNA16 0:8d7b6e55609a 17 float time =0.0;
LanierUSNA16 0:8d7b6e55609a 18
LanierUSNA16 0:8d7b6e55609a 19 while(1)
LanierUSNA16 0:8d7b6e55609a 20 {
LanierUSNA16 0:8d7b6e55609a 21 printf("Enter duty cycle, 0 to 100:\n");
LanierUSNA16 0:8d7b6e55609a 22 scanf("%d", &input_dc);
LanierUSNA16 0:8d7b6e55609a 23 duty_cycle = input_dc/100.0;
LanierUSNA16 0:8d7b6e55609a 24
LanierUSNA16 0:8d7b6e55609a 25 printf("%f duty cycle set. Enter 0 for CCW or 1 for CW spin direction:\n",duty_cycle);
LanierUSNA16 0:8d7b6e55609a 26 scanf("%d", &user_direction);
LanierUSNA16 0:8d7b6e55609a 27
LanierUSNA16 0:8d7b6e55609a 28 printf("it's starting... move the thing!\n");
LanierUSNA16 0:8d7b6e55609a 29 t.start();
LanierUSNA16 0:8d7b6e55609a 30 turret_speed = duty_cycle;
LanierUSNA16 0:8d7b6e55609a 31 turret_direction = user_direction;
LanierUSNA16 0:8d7b6e55609a 32
LanierUSNA16 0:8d7b6e55609a 33 pulses = myEncoder.getPulses();
LanierUSNA16 0:8d7b6e55609a 34 theta = ((float)pulses/ (1600.0*2.0))*-2.0*3.14;
LanierUSNA16 0:8d7b6e55609a 35 time = t.read();
LanierUSNA16 0:8d7b6e55609a 36
LanierUSNA16 0:8d7b6e55609a 37 printf("time = %.5f;\n",time);
LanierUSNA16 0:8d7b6e55609a 38 printf("theta = %.5f;\n",theta);
LanierUSNA16 0:8d7b6e55609a 39 printf("%f duty cycle. %d spin.\n", duty_cycle, user_direction);
LanierUSNA16 0:8d7b6e55609a 40
LanierUSNA16 0:8d7b6e55609a 41 }
LanierUSNA16 0:8d7b6e55609a 42 }