Diff: sample_main.cpp

Revision:

12:3949fd23be49

Parent:

11:e880912260b5

Child:

13:675456f1f401

--- a/sample_main.cpp	Tue May 25 08:59:55 2021 +0000
+++ b/sample_main.cpp	Wed May 26 07:43:28 2021 +0000
@@ -1,27 +1,57 @@
+/*******************************************************
+              DC MODOR CONTROLLER LIBRARY
+ *******************************************************           
+ Important:
+ 1) Enable / Disable DEBUG_MODE in DC_Motor_controller.cpp 
+    (DEBUG_MODE affects accuracy in control!!!)
+ 2) If compliation issue occurs, DELETE this file. 
+********************************************************/
+
 #include "mbed.h"
 #include "QEI.h"
 #include "DC_Motor_Controller.h"
 
 
 DC_Motor_Controller motor(D6,D3,D4,D5,792); //M1, M2, INA, INB, PPR 
+DigitalIn but(USER_BUTTON);
 
-
+// angle = 412 degree to move from one to another
+// angle = 100 degree to
 
-int sample_main() {
-     
+int main() {
+    
     motor.reset();
+    
+    Serial pc(USBTX, USBRX);  // tx, rx
+    pc.baud(9600);
+    
+    while(1)
+    {
+
+        while(!pc.readable())
+            if(but) { motor.set_out(0,0); pc.printf("\n now: %d \n", motor.get_pulse()); break;}
+        if(pc.readable()) {
+            if(pc.getc() == '1') motor.set_out(0.6,0);
+            else if(pc.getc() == '2') motor.set_out(0,0.6);
+        }
+        else break;
+    }
+    
     /*
     motor.set_out(1,0);
     wait(5);
     motor.set_out(0,1);
-    wait(5);*/
-    
-    
-    motor.move_angle(-90, 0.5); // speed, 0 to 1
+    wait(5);
+    */
+    wait(0.5);
+    motor.move_angle(412, 0.5); // speed, 0 to 1
+    wait(0.5);
+    motor.move_angle(412, 0.5); // speed, 0 to 1
+    wait(0.5);
+    motor.move_angle(412, 0.5); // speed, 0 to 1
+    wait(0.5);
+    motor.move_angle(412, 0.5); // speed, 0 to 1
+    wait(0.5);
+    motor.move_angle(120, 0.5); // speed, 0 to 1
     
-    wait(1.5);
-    
-    motor.move_angle(90, 0.3);
-    wait(1.5);
-    motor.goto_angle(0, 0.1);
 }
\ No newline at end of file