春ロボ　ロケット団 / Mbed 2 deprecated SpringShotingArm

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Dependencies:   mbed Encoder

main.cpp

Committer:
maxnagazumi
Date:
2019-11-14
Revision:
1:9732c03b0de4
Parent:
0:ef259ff25554
Child:
2:d213999ee436

File content as of revision 1:9732c03b0de4:

#include "mbed.h"
#include "EC.h" //Encoderライブラリをインクルード
#include "SpeedController.h"    //SpeedControlライブラリをインクルード
#define RESOLUTION 500

//PwmOut f(PA_9);
//PwmOut b(PA_10);
DigitalIn s(PB_7,PullUp);
DigitalOut out1(PA_8);
Ticker ticker;
Ec4multi EC(PA_6,PA_7,RESOLUTION);
InterruptIn X(PA_4);
SpeedControl motor(PA_10,PA_9,50,EC);

void calOmega()
{
    EC.calOmega();
}

int X_count=0;

void Xcount()
{
    X_count++;
}
/*void shot()
{
    out1 = 1;
}
*/
int main()
{
     out1 =0;
    motor.setPDparam(0.01,0.01);
    motor.setEquation(0.005,0.01,0.023,0.0);
    /*
    b.setPDparam(double kp,double kd);
    b.setEquation(double cf,double df,double cb,double db);
    */
    //int i=0;
    double a=0,r=0.4,v=0;//rで半径指定 a*r=v
    X.rise(&Xcount);
    ticker.attach(&calOmega,0.05);
    printf("%d\n",s.read());
    motor.setDutyLimit(0.6);
    printf("Omega  V(m/s)");
    while(1) {
        if(s.read()==1) {
            while(1) {
                a=EC.getOmega();
                v=a*r;
                printf("%f   %f %d\r\n",a,v,X_count);
                motor.Sc(10.5);
                motor.setDutyLimit(0.4);
                /*if(a>16.9||a<17.1) {
                    i++;
                }*/
                /*if(X_count==6) {
                    out1 =1;
                    printf("shot\n");break;
                }
                */

                if(s.read()==0)break;
            }
        }
        motor.stop();
        motor.reset();
        if(s.read() ==0)break;

    }
    return 0;
}