Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

robot_test.cpp@3:1f47375270c5, 2016-11-02 (annotated)

Committer:
ronvbree
Date:
Wed Nov 02 09:10:43 2016 +0000
Revision:
3:1f47375270c5
Parent:
2:fc869e45e672
Child:
7:a80cb6b06320
abcdefgj

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ronvbree 2:fc869e45e672 1 #include "robot.h"
ronvbree 2:fc869e45e672 2 #include "geometry.h"
ronvbree 2:fc869e45e672 3
ronvbree 2:fc869e45e672 4 Serial pc(USBTX, USBRX);
ronvbree 2:fc869e45e672 5
ronvbree 2:fc869e45e672 6 AnalogIn upperPotMeter(A0);
ronvbree 2:fc869e45e672 7 AnalogIn lowerPotMeter(A1);
ronvbree 2:fc869e45e672 8
ronvbree 2:fc869e45e672 9 InterruptIn button(D2);
ronvbree 2:fc869e45e672 10 InterruptIn killButton(D3);
ronvbree 2:fc869e45e672 11
ronvbree 2:fc869e45e672 12 Robot robot;
ronvbree 2:fc869e45e672 13
ronvbree 2:fc869e45e672 14 void readArmLengths(float &upper, float &lower) {
ronvbree 2:fc869e45e672 15 upper = L_min + (L_max - L_min) * upperPotMeter;
ronvbree 2:fc869e45e672 16 lower = L_min + (L_max - L_min) * lowerPotMeter;
ronvbree 2:fc869e45e672 17 }
ronvbree 2:fc869e45e672 18
ronvbree 2:fc869e45e672 19 void onButtonPress() {
ronvbree 2:fc869e45e672 20 float upper;
ronvbree 2:fc869e45e672 21 float lower;
ronvbree 2:fc869e45e672 22 readArmLengths(upper, lower);
ronvbree 2:fc869e45e672 23
ronvbree 3:1f47375270c5 24 pc.printf("Reference: Lower: %f, Upper: %f\n\r", lower, upper);
ronvbree 3:1f47375270c5 25 pc.printf("Encoder: Lower: %f, Upper: %f\n\r", robot.getLowerArmLength(), robot.getUpperArmLength());
ronvbree 2:fc869e45e672 26
ronvbree 2:fc869e45e672 27 // robot.setArms(upper, lower);
ronvbree 3:1f47375270c5 28 robot.setLowerArmVelocity(2);
ronvbree 3:1f47375270c5 29 robot.setUpperArmVelocity(1);
ronvbree 2:fc869e45e672 30
ronvbree 2:fc869e45e672 31 }
ronvbree 2:fc869e45e672 32
ronvbree 2:fc869e45e672 33 int main() {
ronvbree 2:fc869e45e672 34 pc.baud(115200);
ronvbree 2:fc869e45e672 35 button.fall(&onButtonPress);
ronvbree 2:fc869e45e672 36 killButton.fall(&robot, &Robot::kill);
ronvbree 2:fc869e45e672 37 pc.printf("Test\n\r");
ronvbree 2:fc869e45e672 38 while (true);
ronvbree 2:fc869e45e672 39 }