Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

robot_test.cpp@2:fc869e45e672, 2016-11-02 (annotated)

Committer:
ronvbree
Date:
Wed Nov 02 08:51:12 2016 +0000
Revision:
2:fc869e45e672
Child:
3:1f47375270c5
abcdg

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 2:fc869e45e672 24 pc.printf("Lower: %f, Upper: %f\n\r", lower, upper);
ronvbree 2:fc869e45e672 25
ronvbree 2:fc869e45e672 26 // robot.setArms(upper, lower);
ronvbree 2:fc869e45e672 27 // robot.setLowerArmVelocity(2);
ronvbree 2:fc869e45e672 28 // robot.setUpperArmVelocity(1);
ronvbree 2:fc869e45e672 29
ronvbree 2:fc869e45e672 30 }
ronvbree 2:fc869e45e672 31
ronvbree 2:fc869e45e672 32 int main() {
ronvbree 2:fc869e45e672 33 pc.baud(115200);
ronvbree 2:fc869e45e672 34 button.fall(&onButtonPress);
ronvbree 2:fc869e45e672 35 killButton.fall(&robot, &Robot::kill);
ronvbree 2:fc869e45e672 36 pc.printf("Test\n\r");
ronvbree 2:fc869e45e672 37 while (true);
ronvbree 2:fc869e45e672 38 }