Diff: main.cpp

Revision:

2:b2ccd9f044bb

Parent:

1:ac598811dd00

Child:

3:4c93be3a9010

--- a/main.cpp	Sat Nov 27 11:37:20 2010 +0000
+++ b/main.cpp	Thu Sep 24 11:20:14 2015 +0000
@@ -15,20 +15,21 @@
 //****************************************************************************/
 // Globals
 //****************************************************************************/
+Serial pc(USBTX, USBRX);
 //--------
 // Motors 
 //--------
 //Left motor.
-PwmOut leftMotor(p23);
-DigitalOut leftBrake(p19);
-DigitalOut leftDirection(p28);
-QEI leftQei(p29, p30, NC, 624);
+PwmOut leftMotor(D5);
+DigitalOut leftBrake(D3);
+DigitalOut leftDirection(D4);
+QEI leftQei(D12, D13, NC, 624);
 PID leftController(Kc, Ti, Td, RATE);
 //-------
 // Files
 //-------
-LocalFileSystem local("local");
-FILE* fp;
+//LocalFileSystem local("local");
+//FILE* fp;
 //--------
 // Timers
 //--------
@@ -76,29 +77,33 @@
     initializePidControllers();
 
     //Open results file.
-    fp = fopen("/local/pidtest.csv", "w");
+    //fp = fopen("/local/pidtest.csv", "w");
     
     endTimer.start();
 
     //Set velocity set point.
     leftController.setSetPoint(goal);
-
+    leftMotor.period_ms(0.1);
+    
     //Run for 3 seconds.
     while (endTimer.read() < 3.0){
         leftPulses = leftQei.getPulses();
         leftVelocity = (leftPulses - leftPrevPulses) / RATE;
         leftPrevPulses = leftPulses;
+        
         leftController.setProcessValue(leftVelocity);
         leftPwmDuty = leftController.compute();
         leftMotor = leftPwmDuty;
-        fprintf(fp, "%f,%f\n", leftVelocity, goal);
+        pc.printf("leftpusles: %d, lefVelocity: %f, leftPwmDuty: %f \n\r",leftPulses,leftVelocity,leftPwmDuty);
+
+        //fprintf(fp, "%f,%f\n", leftVelocity, goal);
         wait(RATE);
     }
 
     //Stop motors.
-    leftMotor  = 1.0;
+    leftMotor  = 0;
     
     //Close results file.
-    fclose(fp);
+    //fclose(fp);
 
 }