Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

robot_test.cpp

Committer:
ronvbree
Date:
2016-11-02
Revision:
2:fc869e45e672
Child:
3:1f47375270c5

File content as of revision 2:fc869e45e672:

#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);
}