Diff: sample_main.cpp

Revision:

15:87df75ee8731

Parent:

14:c9611cf036ad

--- a/sample_main.cpp	Thu May 27 07:32:49 2021 +0000
+++ b/sample_main.cpp	Mon May 31 09:44:13 2021 +0000
@@ -10,45 +10,50 @@
 
 
 DC_Motor_PID motor(D6,D3,D4,D5,792); //M1, M2, INA, INB, PPR 
-DigitalIn but(USER_BUTTON);
+DigitalIn but(D9);
 
 // angle = 412 degree to move from one to another
 // angle = 100 degree to
 
 int main() {
     
-    motor.set_pid(0.008, 0, 0);
+    motor.set_pid(0.008, 0, 0, 0.10);
     
     Serial pc(USBTX, USBRX);  // tx, rx
     pc.baud(9600);
     
-    while(1)
+    but.mode(PullDown);
+    
+    while(1){
+    
+    wait(0.5);motor.set_out(0.4,0);
+    /*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;
+            if(but) {motor.set_out(0.4,0); pc.printf("\nbegin: %d \n", motor.get_pulse()); break;}
+    }
+    
+    wait(2);
+    */while(1)
+    {
+            if(but) { motor.set_out(0,0); pc.printf("\nend: %d \n", motor.get_pulse()); break;}
     }
     
-    /*
-    motor.set_out(1,0);
-    wait(5);
-    motor.set_out(0,1);
-    wait(5);
-    */
+    wait(0.5);
+    motor.reset();
     wait(0.5);
-    motor.move_angle(1000); // speed, 0 to 1
-    wait(0.5);
-    motor.move_angle(-1000); // speed, 0 to 1
-    wait(0.5);
+    motor.move_angle(615);
+    wait(2);
+    
+    motor.move_angle(412); // speed, 0 to 1
+    wait(2);
     motor.move_angle(412); // speed, 0 to 1
-    wait(0.5);
+    wait(2);
+    motor.move_angle(412); // speed, 0 to 1
+    wait(2);
     motor.move_angle(412); // speed, 0 to 1
-    wait(0.5);
+    wait(2);
     motor.move_angle(120); // speed, 0 to 1
+    wait(2);
+    }
     
 }
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