Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

controller_test.cpp

Committer:
ronvbree
Date:
2016-11-02
Revision:
7:a80cb6b06320
Child:
12:8295c02d740f

File content as of revision 7:a80cb6b06320:

#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);
    
}