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Dependents: DR-ArmServoTest Auto_DC_pick_class MBed_TR1 ros_button_2021
Revision 20:a0d027b80d2c, committed 2021-08-16
- Comitter:
- howanglam3
- Date:
- Mon Aug 16 15:42:30 2021 +0000
- Parent:
- 16:3a1b95e2ecb8
- Commit message:
- library_version
Changed in this revision
| sample_main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 3a1b95e2ecb8 -r a0d027b80d2c sample_main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/sample_main.cpp Mon Aug 16 15:42:30 2021 +0000
@@ -0,0 +1,44 @@
+/*******************************************************
+ 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(D7);
+// angle = 412 degree to move from one to another
+// angle = 100 degree to
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+int main() {
+ Serial pc(USBTX, USBRX); // tx, rx
+ pc.baud(9600);
+ motor.set_pid(0.008, 0, 0, 0.10);
+
+ but.mode(PullUp);
+
+ while(1){
+
+ wait(0.5);
+ motor.set_out(0,0.4);
+ while(1)
+ {
+ pc.printf("%g \n", but);
+ 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(-250);
+ wait(2);
+ }
+
+}
\ No newline at end of file