PAC: Avionics Team
/
airbrake_motor
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Fork of
airbrake_motor
by 
Zheyuan Xie
Diff: main.cpp
- Revision:
- 0:9bfe3a86225a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Jun 08 20:50:14 2019 +0000
@@ -0,0 +1,42 @@
+#include "QEI.h"
+
+Serial pc(USBTX, USBRX);
+RawSerial smc(PC_6, PA_12);
+//Use X2 encoding by default.
+QEI wheel (PC_8, PC_5, NC, 624);
+
+Ticker ctrl_tick;
+
+int tgt = 5000;
+
+void ctrl_event() {
+ static int rot = 0;
+ static int output = 0;
+ rot = wheel.getPulses();
+ pc.printf("Pulses is: %i\n\r", rot);
+ int err = tgt - rot;
+ if (err > 0) {
+ err = err;
+ output = (err * 0.1);
+ if (output > 127) output = 127;
+ smc.putc(0x8A);
+ smc.putc((uint8_t)output);
+ } else {
+ err = -err;
+ output = (err * 0.1);
+ if (output > 127) output = 127;
+ smc.putc(0x89);
+ smc.putc(output);
+ }
+}
+
+int main() {
+ pc.baud(115200);
+ smc.baud(115200);
+ ctrl_tick.attach(&ctrl_event, 0.1);
+ while(1){
+ wait(5);
+ if (tgt != 0) tgt = 0;
+ else tgt = 5000;
+ }
+}
\ No newline at end of file