cuboid strong
Dependencies: mbed
Revision 2:38d9d1c3c85f, committed 2018-03-01
- Comitter:
- altb
- Date:
- Thu Mar 01 10:33:19 2018 +0000
- Parent:
- 1:2e118d67eeae
- Commit message:
- Cuboid with lift up and down
Changed in this revision
LinearCharacteristics.h | Show annotated file Show diff for this revision Revisions of this file |
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 2e118d67eeae -r 38d9d1c3c85f LinearCharacteristics.h --- a/LinearCharacteristics.h Wed Jan 10 16:35:44 2018 +0000 +++ b/LinearCharacteristics.h Thu Mar 01 10:33:19 2018 +0000 @@ -8,7 +8,6 @@ } virtual ~LinearCharacteristics(); float eval(float); - operator float(); private:
diff -r 2e118d67eeae -r 38d9d1c3c85f main.cpp --- a/main.cpp Wed Jan 10 16:35:44 2018 +0000 +++ b/main.cpp Thu Mar 01 10:33:19 2018 +0000 @@ -23,7 +23,7 @@ o. ENC CH B .. .. .. .. .. - .o AIN acy (PA_0) .. + .o AIN acx (PA_0) .. .o AIN acy (PA_1) .. 5. .o i_soll(PA_4) .o Analog GND .o AIN Gyro (PB_0) .. @@ -36,8 +36,8 @@ InterruptIn button(USER_BUTTON); // User Button, short presses: reduce speed, long presses: increase speed AnalogIn ax(PA_0); // Analog IN (acc x) on PA_0 AnalogIn ay(PA_1); // Analog IN (acc y) on PA_1 -AnalogIn gz(PB_0); // Analog IN (gyr z) on PB_0 -AnalogOut out(PA_4); // Analog OUT 1.6 V -> 0A 3.2A -> 2A (see ESCON) +AnalogIn gz(PA_4); // Analog IN (gyr z) on PB_0 +AnalogOut out(PA_5); // Analog OUT 1.6 V -> 0A 3.2A -> 2A (see ESCON) float out_value = 1.6f; // set voltage on 1.6 V (0 A current) float kp = 4.0f; // speed control gain for motor speed cntrl. float Tn = 0.05f; // Integral time " " " @@ -109,6 +109,7 @@ if(++k >= 199){ k = 0; pc.printf("phi=%3.2f omega=%3.2f \r\n",ang*180.0f/PI,vel); + //pc.printf("ax=%3.2f ay=%3.2f gz=%3.2f \r\n",u2ax(3.3f*ax.read()),u2ay(3.3f*ay.read()),wz); } } //******************************************************************************