![](/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:
- 2021-05-27
- Revision:
- 14:c9611cf036ad
- Parent:
- 13:675456f1f401
- Child:
- 15:87df75ee8731
File content as of revision 14:c9611cf036ad:
/******************************************************* 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(USER_BUTTON); // angle = 412 degree to move from one to another // angle = 100 degree to int main() { motor.set_pid(0.008, 0, 0); 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); */ 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(412); // speed, 0 to 1 wait(0.5); motor.move_angle(412); // speed, 0 to 1 wait(0.5); motor.move_angle(120); // speed, 0 to 1 }