Diff: sample_main.cpp

Revision:

13:675456f1f401

Parent:

12:3949fd23be49

Child:

14:c9611cf036ad

--- a/sample_main.cpp	Wed May 26 07:43:28 2021 +0000
+++ b/sample_main.cpp	Thu May 27 05:43:48 2021 +0000
@@ -1,10 +1,7 @@
 /*******************************************************
               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. 
+         IMPORTANT: GO TO README FOR DOCUMENT!
 ********************************************************/
 
 #include "mbed.h"
@@ -12,7 +9,7 @@
 #include "DC_Motor_Controller.h"
 
 
-DC_Motor_Controller motor(D6,D3,D4,D5,792); //M1, M2, INA, INB, PPR 
+DC_Motor_PID motor(D6,D3,D4,D5,792); //M1, M2, INA, INB, PPR 
 DigitalIn but(USER_BUTTON);
 
 // angle = 412 degree to move from one to another
@@ -20,7 +17,7 @@
 
 int main() {
     
-    motor.reset();
+    motor.set_pid(0.008, 0, 0);
     
     Serial pc(USBTX, USBRX);  // tx, rx
     pc.baud(9600);
@@ -44,14 +41,14 @@
     wait(5);
     */
     wait(0.5);
-    motor.move_angle(412, 0.5); // speed, 0 to 1
+    motor.move_angle(412); // speed, 0 to 1
     wait(0.5);
-    motor.move_angle(412, 0.5); // speed, 0 to 1
+    motor.move_angle(-412); // speed, 0 to 1
     wait(0.5);
-    motor.move_angle(412, 0.5); // speed, 0 to 1
+    motor.move_angle(412); // speed, 0 to 1
     wait(0.5);
-    motor.move_angle(412, 0.5); // speed, 0 to 1
+    motor.move_angle(412); // speed, 0 to 1
     wait(0.5);
-    motor.move_angle(120, 0.5); // speed, 0 to 1
+    motor.move_angle(120); // speed, 0 to 1
     
 }
\ No newline at end of file