Inverted Pendulum / Mbed 2 deprecated IP-Interface

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Dependencies:   mbed QEI

main.cpp

Committer:
dlweakley
Date:
2016-11-11
Revision:
4:41bbbaecd322
Parent:
1:b0fc2c9a5d06
Child:
5:74fcd196ff96

File content as of revision 4:41bbbaecd322:

#include "mbed.h"
 
AnalogIn ain(A0);
Serial pc(USBTX, USBRX);
DigitalOut dout(LED1);
 
 //motor pins 
DigitalOut d2(PTB23);
DigitalOut M1PWM(PTC4);
DigitalOut M2PWM(PTD0);
DigitalOut M1DIR(PTC3);
DigitalOut M2DIR(PTC12);

void anticlockwise(int steps){
    for (int i = 0; i < 8; i++) { 
        switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
            case 0: {
                M1PWM=1;
                M1DIR=0;
                M2PWM=0;
                M2DIR=0;
                //wait_ms(1);
            }
            break;
            case 1: {
                M1PWM=1;
                M1DIR=0;
                M2PWM=1;
                M2DIR=0;
                //wait_ms(1);
            }
            break;
            case 2: {
                M1PWM=0;
                M1DIR=0;
                M2PWM=1;
                M2DIR=0;
                //wait_ms(1);
            }
            break;
            case 3: {
                M1PWM=1;
                M1DIR=1;
                M2PWM=1;
                M2DIR=0;
                //wait_ms(1);
            }
            break;
            case 4: {
                M1PWM=1;
                M1DIR=1;
                M2PWM=0;
                M2DIR=0;
                //wait_ms(1);
            }
            break;
            case 5: {
                M1PWM=1;
                M1DIR=1;
                M2PWM=1;
                M2DIR=1;
                //wait_ms(1);
            }
            break;
            case 6: {
                M1PWM=0;
                M1DIR=0;
                M2PWM=1;
                M2DIR=1;
                //wait_ms(1);
            }
            break;
            case 7: {
                M1PWM=1;
                M1DIR=0;
                M2PWM=1;
                M2DIR=1;
                //wait_ms(1);
            }
            break;
        }
        wait_us(500);
        }
 
        
        // wait time defines the speed 
      
    
}

void clockwise(){
    for (int i = 0; i < 8; i++) { 
        switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
            case 0: {
                M1PWM=1;
                M1DIR=0;
                M2PWM=1;
                M2DIR=1;
                //wait_us(20);
            }
            break;
            case 1: {
                M1PWM=0;
                M1DIR=0;
                M2PWM=1;
                M2DIR=1;
                //wait_us(20);
            }
            break;
            case 2: {
                M1PWM=1;
                M1DIR=1;
                M2PWM=1;
                M2DIR=1;
                //wait_us(20);
            }
            break;
            case 3: {
                M1PWM=1;
                M1DIR=1;
                M2PWM=0;
                M2DIR=0;
                //wait_us(20);
            }
            break;
            case 4: {
                M1PWM=1;
                M1DIR=1;
                M2PWM=1;
                M2DIR=0;
                //wait_us(20);
            }
            break;
            case 5: {
                M1PWM=0;
                M1DIR=0;
                M2PWM=1;
                M2DIR=0;
                //wait_us(20);
            }
            break;
            case 6: {
                M1PWM=1;
                M1DIR=0;
                M2PWM=1;
                M2DIR=0;
                //wait_us(20);
            }
            break;
            case 7: {
                M1PWM=1;
                M1DIR=0;
                M2PWM=0;
                M2DIR=0;
                //wait_us(20);
            }
            break;
        }
            wait_us(500);
        }
 
       
        // wait time defines the speed 
       
    
}

int main() {
    pc.baud(9600);
    pc.printf("Getting values\r\n");
    while(1)
    {
        if(ain > 0.3f) {
            dout = 1;
        } else {
            dout = 0;
        }
        wait(0.1);
        pc.printf("The value is %f\r\n", ain.read());
    }
}