![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Library version for DC_Stepper_Controller_Lib with PWM speed control
Dependents: DR-ArmServoTest Auto_DC_pick_class MBed_TR1 ros_button_2021
sample_main.cpp
- Committer:
- stivending
- Date:
- 2021-05-31
- Revision:
- 15:87df75ee8731
- Parent:
- 14:c9611cf036ad
File content as of revision 15:87df75ee8731:
/******************************************************* DC MODOR CONTROLLER LIBRARY ******************************************************* IMPORTANT: GO TO README FOR DOCUMENT! ********************************************************/ #include "mbed.h" #include "QEI.h" #include "DC_Motor_Controller.h" DC_Motor_PID motor(D6,D3,D4,D5,792); //M1, M2, INA, INB, PPR 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, 0.10); Serial pc(USBTX, USBRX); // tx, rx pc.baud(9600); but.mode(PullDown); while(1){ wait(0.5);motor.set_out(0.4,0); /*while(1) { 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;} } wait(0.5); motor.reset(); 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(2); motor.move_angle(412); // speed, 0 to 1 wait(2); motor.move_angle(412); // speed, 0 to 1 wait(2); motor.move_angle(120); // speed, 0 to 1 wait(2); } }