Project Paint
/
arm_control
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Dependencies: mbed QEI biquadFilter
Diff: controller_test.cpp
- Revision:
- 7:a80cb6b06320
- Child:
- 12:8295c02d740f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/controller_test.cpp Wed Nov 02 16:29:13 2016 +0000
@@ -0,0 +1,41 @@
+#include "controller.h"
+
+Serial pc(USBTX, USBRX);
+
+RobotController controller;
+
+AnalogIn upperPotMeter(A0);
+AnalogIn lowerPotMeter(A1);
+
+InterruptIn button(D2);
+InterruptIn killButton(D3);
+
+void readArmLengths(float &upper, float &lower) {
+ upper = L_min + (L_max - L_min) * upperPotMeter;
+ lower = L_min + (L_max - L_min) * lowerPotMeter;
+}
+
+void onButtonPress() {
+ float upper;
+ float lower;
+ readArmLengths(upper, lower);
+
+ pc.printf("Reference: Lower: %f, Upper: %f\n\r", lower, upper);
+ pc.printf("Encoder: Lower: %f, Upper: %f\n\r", controller.getLowerArmLength(), controller.getUpperArmLength());
+ pc.printf("Robot killed: %s\n\r", controller.isKilled()? "Yes":"No");
+
+ controller.setArmLengths(upper, lower);
+
+}
+
+
+int main() {
+ pc.baud(115200);
+ button.fall(&onButtonPress);
+ killButton.fall(controller.getRobot(), &Robot::kill);
+ pc.printf("Initialized\n\r");
+ while (true);
+
+}
+
+