Diff: main.cpp

Revision:

2:6bc435f4ffec

Parent:

1:30696e4d196b

Child:

3:1229fe22fdcd

--- a/main.cpp	Wed Aug 11 09:15:10 2010 +0000
+++ b/main.cpp	Fri Mar 12 09:42:14 2021 +0000
@@ -1,16 +1,53 @@
+#include "mbed.h"
 #include "QEI.h"
+ 
+DigitalOut out1(D2);
+DigitalOut out2(D4);
+DigitalIn home_button(D13);
+QEI dc_motor (D8,D7,NC,792);
+int counter = 0;
 
-Serial pc(USBTX, USBRX);
-//Use X4 encoding.
-//QEI wheel(p29, p30, NC, 624, QEI::X4_ENCODING);
-//Use X2 encoding by default.
-QEI wheel (p29, p30, NC, 624);
+void reset(){
+    while (home_button == 0){
+        out1 = 1;
+        out2 = 0;
+    }
+    out1 = 0;
+    dc_motor.reset();
+    wait(1);
+ };
+ 
+ void go_angle(int angle){
+    int tar_pulse = ((double) angle / 360.0)* (2.0 * 792.0);
+    int cur_pulse = dc_motor.getPulses();
+    
+    while ( tar_pulse != cur_pulse ){
 
+        if (tar_pulse > cur_pulse){
+            out1 = 1;
+            out2 = 0;
+        }
+        else {
+            out1 = 0;
+            out2 = 1;
+        }
+        cur_pulse = dc_motor.getPulses();
+    }
+    out1 = 0;
+    out2 = 0;
+};
+ 
 int main() {
+    reset();
+    go_angle(90);
+    wait(1);
+    go_angle(180);
+    wait(1);
+    go_angle(45);
+    wait(1);
+    go_angle(30);
+    wait(1);
+    go_angle(1);
+    wait(1);
 
-    while(1){
-        wait(0.1);
-        pc.printf("Pulses is: %i\n", wheel.getPulses());
-    }
-
-}
+}
\ No newline at end of file