Inverted Pendulum
/
IP-Interface
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Diff: main.cpp
- Revision:
- 13:ab5a6ab6c492
- Parent:
- 11:ed9539245ea0
- Child:
- 15:a0b5c4306246
- Child:
- 16:b5862ba97453
--- a/main.cpp Mon Nov 14 21:00:01 2016 +0000
+++ b/main.cpp Wed Nov 16 00:01:15 2016 +0000
@@ -1,6 +1,7 @@
#include "QEI.h"
#include "Motor.h"
#include "pot.h"
+#include <time.h>
Serial pc(USBTX, USBRX);
//Use X4 encoding.
@@ -40,6 +41,29 @@
}
}
+void test_speed() {
+ time_t start;
+ double elapsed_time = 0;
+ int steps = 10;
+ int wait = 1000;
+ printf("steps: %i\r\n", steps);
+ for( int i = 0; i < 3; i++){
+ encoder.reset();
+ start = time(0);
+ motor.step_clockwise(steps, wait);
+ elapsed_time = difftime( time(0), start);
+ printf("Round %i clockwise, Total duration: \t%f seconds\r\n", i, elapsed_time);
+ wait_ms(200);
+
+ encoder.reset();
+ start = time(0);
+ motor.step_anticlockwise(steps, wait);
+ elapsed_time = difftime( time(0), start);
+ printf("Round %i counter-clockwise, Total duration: \t%f seconds\r\n", i, elapsed_time);
+ wait_ms(200);
+ }
+}
+
void test_pendulum(){
while(1){