Inverted Pendulum / Mbed 2 deprecated IP-Interface

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Dependencies:   mbed QEI

main.cpp@8:2abfdbf5a3b8, 2016-11-11 (annotated)

Committer:
dlweakley
Date:
Fri Nov 11 21:19:06 2016 +0000
Revision:
8:2abfdbf5a3b8
Parent:
6:8d2171811f14
Child:
11:ed9539245ea0
test methods and angle class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Snay22 5:74fcd196ff96 1 #include "QEI.h"
dlweakley 6:8d2171811f14 2 #include "Motor.h"
dlweakley 8:2abfdbf5a3b8 3 #include "pot.h"
dlweakley 4:41bbbaecd322 4
Snay22 5:74fcd196ff96 5 Serial pc(USBTX, USBRX);
Snay22 5:74fcd196ff96 6 //Use X4 encoding.
Snay22 5:74fcd196ff96 7 //QEI wheel(p29, p30, NC, 624, QEI::X4_ENCODING);
Snay22 5:74fcd196ff96 8 //Use X2 encoding by default.
dlweakley 8:2abfdbf5a3b8 9 QEI encoder (PTC16, PTC17, PTB9, 512);
dlweakley 8:2abfdbf5a3b8 10 Motor motor(PTC4, PTD0, PTC3, PTC12, PTB23, 1000);
dlweakley 8:2abfdbf5a3b8 11 Pot pend(PTC10);
dlweakley 8:2abfdbf5a3b8 12 void test_distance(){
dlweakley 8:2abfdbf5a3b8 13 int wait = 1000;
dlweakley 8:2abfdbf5a3b8 14 int steps = 100;
dlweakley 8:2abfdbf5a3b8 15 while (wait > 500){
dlweakley 8:2abfdbf5a3b8 16 while (steps > 10){
dlweakley 8:2abfdbf5a3b8 17 printf("steps: %i wait: %i \r\n", steps, wait);
dlweakley 8:2abfdbf5a3b8 18 for( int i = 0; i < 3; i++){
dlweakley 8:2abfdbf5a3b8 19 encoder.reset();
dlweakley 8:2abfdbf5a3b8 20 motor.step_clockwise(steps, wait);
dlweakley 8:2abfdbf5a3b8 21 int pulses_cw = encoder.getPulses();
dlweakley 8:2abfdbf5a3b8 22 wait_ms(200);
dlweakley 8:2abfdbf5a3b8 23 int coast_pulses_cw = encoder.getPulses();
dlweakley 8:2abfdbf5a3b8 24
dlweakley 8:2abfdbf5a3b8 25
dlweakley 8:2abfdbf5a3b8 26 encoder.reset();
dlweakley 8:2abfdbf5a3b8 27 motor.step_anticlockwise(steps, wait);
dlweakley 8:2abfdbf5a3b8 28 int pulses_ccw = encoder.getPulses();
dlweakley 8:2abfdbf5a3b8 29 wait_ms(200);
dlweakley 8:2abfdbf5a3b8 30 int coast_pulses_ccw = encoder.getPulses();
dlweakley 8:2abfdbf5a3b8 31 printf("trial: %i \tclockwise pluses: \t%i \tanticlockwise pluses: \t%i \r\n", i + 1, pulses_cw, pulses_ccw);
dlweakley 8:2abfdbf5a3b8 32 printf("\t\tpulses after coast: \t%i \tpulses after coast: \t%i\r\n", coast_pulses_cw, coast_pulses_ccw);
dlweakley 8:2abfdbf5a3b8 33 }
dlweakley 8:2abfdbf5a3b8 34 steps -=10;
dlweakley 8:2abfdbf5a3b8 35 printf("\r\n");
dlweakley 8:2abfdbf5a3b8 36 }
dlweakley 8:2abfdbf5a3b8 37
dlweakley 8:2abfdbf5a3b8 38 wait-=100;
dlweakley 8:2abfdbf5a3b8 39 steps=100;
dlweakley 8:2abfdbf5a3b8 40 }
dlweakley 8:2abfdbf5a3b8 41 }
dlweakley 6:8d2171811f14 42
dlweakley 8:2abfdbf5a3b8 43 void test_speed(){
dlweakley 8:2abfdbf5a3b8 44
dlweakley 8:2abfdbf5a3b8 45 }
dlweakley 8:2abfdbf5a3b8 46 void test_pendulum(){
Snay22 5:74fcd196ff96 47 while(1){
dlweakley 8:2abfdbf5a3b8 48 printf("angle: %f \r\n", pend.get_angle());
Snay22 0:44fc57e03a56 49 }
dlweakley 8:2abfdbf5a3b8 50 }
dlweakley 8:2abfdbf5a3b8 51 int main() {
dlweakley 8:2abfdbf5a3b8 52
dlweakley 8:2abfdbf5a3b8 53 test_pendulum();
dlweakley 8:2abfdbf5a3b8 54 //motor.step_clockwise(100,1500);
dlweakley 8:2abfdbf5a3b8 55 //motor.step_clockwise(100,1000);
dlweakley 8:2abfdbf5a3b8 56 //motor.step_clockwise(100,700);
dlweakley 8:2abfdbf5a3b8 57
dlweakley 8:2abfdbf5a3b8 58
Snay22 5:74fcd196ff96 59
dlweakley 8:2abfdbf5a3b8 60 }