Module 9 Super Team / Mbed 2 deprecated hookey_controller

The total controller!

Dependencies:   EMG1 PIDController1 compute mbed InBetweenController PinDetect QEI

Files at this revision

API Documentation at this revision

Revision 23:174f955e5c15, committed 2015-11-05

Comitter:
AeroKev
Date:
Thu Nov 05 12:22:57 2015 +0000
Parent:
22:c6459c435069
Commit message:
Last Commit;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
main.h Show annotated file Show diff for this revision Revisions of this file 
diff -r c6459c435069 -r 174f955e5c15 main.cpp
--- a/main.cpp	Thu Nov 05 10:47:06 2015 +0000
+++ b/main.cpp	Thu Nov 05 12:22:57 2015 +0000
@@ -4,6 +4,7 @@
 #include "pidControl.h"
 #include "PinDetect.h"
 #include "compute.h"
+#include "main.h"
  
 /// Define Objects
 Ticker      sample_timer;
@@ -20,13 +21,20 @@
 double      emg_out0, emg_out1, emg_out2;
 bool        demoing = false;
 int         demoInt = 0;
+int         demoRound = 0;
  
 void tick()
 {
     if(demoing) {
+        if(demoRound == 7) {
+            NVIC_SystemReset();
+            return;   
+        }
         double a,b;
-        if(demoInt == 0)
+        if(demoInt == 0) {
             Point2Angles(-20, 18, a, b);
+            demoRound++;
+        }
         if(demoInt == 1)
             Point2Angles(-20, 35, a, b);
         if(demoInt == 2)
@@ -36,6 +44,12 @@
         demoInt++;
         demoInt = demoInt%4;
         rotate(a,b);
+        if(demoRound == 6) {
+            Point2Angles(0, 24, a, b);
+            demoRound++;
+            rotate(a,b);
+            return;
+        }
         return;  
     }
     double a,b,x,y;
@@ -147,6 +161,12 @@
     movement_timer.attach(&goMotor, 0.01f);
  
     rotate(a,b);
+    
+    /* COMMENT THIS TO USE THE EMG */
+    calibrated = 4;
+    calc_timer.attach(&goTick, 2.0);
+    demoing = true;  
+    /* COMMENT THIS TO USE THE EMG */
  
     /** The main while-loop */
     while(1) {

diff -r c6459c435069 -r 174f955e5c15 main.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Thu Nov 05 12:22:57 2015 +0000
@@ -0,0 +1,1 @@
+int main();
\ No newline at end of file