Project Paint
/
arm_control
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.
Dependencies: mbed QEI biquadFilter
Diff: robot_test.cpp
- Revision:
- 2:fc869e45e672
- Child:
- 3:1f47375270c5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/robot_test.cpp Wed Nov 02 08:51:12 2016 +0000
@@ -0,0 +1,38 @@
+#include "robot.h"
+#include "geometry.h"
+
+Serial pc(USBTX, USBRX);
+
+AnalogIn upperPotMeter(A0);
+AnalogIn lowerPotMeter(A1);
+
+InterruptIn button(D2);
+InterruptIn killButton(D3);
+
+Robot robot;
+
+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("Lower: %f, Upper: %f\n\r", lower, upper);
+
+// robot.setArms(upper, lower);
+// robot.setLowerArmVelocity(2);
+// robot.setUpperArmVelocity(1);
+
+}
+
+int main() {
+ pc.baud(115200);
+ button.fall(&onButtonPress);
+ killButton.fall(&robot, &Robot::kill);
+ pc.printf("Test\n\r");
+ while (true);
+}