Sp2019_EW202_3321_1 / Mbed 2 deprecated tach_initial

Tachinit

Dependencies:   mbed Tach ContinuousServo

main.cpp@0:9acdbbfa4eb2, 2019-04-17 (annotated)

Committer:
m215910
Date:
Wed Apr 17 14:45:09 2019 +0000
Revision:
0:9acdbbfa4eb2
Child:
1:66d0178e8f40
Tachinit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m215910 0:9acdbbfa4eb2 1 //Satre Gagnon, Ewing, Batten
m215910 0:9acdbbfa4eb2 2 //Tach Initial
m215910 0:9acdbbfa4eb2 3
m215910 0:9acdbbfa4eb2 4 #include "mbed.h"
m215910 0:9acdbbfa4eb2 5 #include "ContinuousServo.h"
m215910 0:9acdbbfa4eb2 6 #include "Tach.h"
m215910 0:9acdbbfa4eb2 7
m215910 0:9acdbbfa4eb2 8
m215910 0:9acdbbfa4eb2 9 Serial pc(USBTX,USBRX); //Establish serial connection
m215910 0:9acdbbfa4eb2 10
m215910 0:9acdbbfa4eb2 11 //speed
m215910 0:9acdbbfa4eb2 12 float wL, wR;
m215910 0:9acdbbfa4eb2 13
m215910 0:9acdbbfa4eb2 14 ContinuousServo left(p23);
m215910 0:9acdbbfa4eb2 15 ContinuousServo right(p26);
m215910 0:9acdbbfa4eb2 16
m215910 0:9acdbbfa4eb2 17 //encoders
m215910 0:9acdbbfa4eb2 18 Tach tleft(p17,64);
m215910 0:9acdbbfa4eb2 19 Tach tright(p13,64);
m215910 0:9acdbbfa4eb2 20
m215910 0:9acdbbfa4eb2 21 int main()
m215910 0:9acdbbfa4eb2 22 {
m215910 0:9acdbbfa4eb2 23
m215910 0:9acdbbfa4eb2 24 pc.baud(9600); //set baud rate
m215910 0:9acdbbfa4eb2 25
m215910 0:9acdbbfa4eb2 26 while(1) {
m215910 0:9acdbbfa4eb2 27
m215910 0:9acdbbfa4eb2 28 left.speed(0.5);
m215910 0:9acdbbfa4eb2 29 right.speed(-0.5); //right negative to go forward
m215910 0:9acdbbfa4eb2 30
m215910 0:9acdbbfa4eb2 31 wL = tleft.getSpeed(); //speed of left wheel (rev/sec)
m215910 0:9acdbbfa4eb2 32 wR = tright.getSpeed(); //speed of right wheel (rev/sec)
m215910 0:9acdbbfa4eb2 33
m215910 0:9acdbbfa4eb2 34 pc.printf("%f, %f\n", wL, wR);
m215910 0:9acdbbfa4eb2 35 wait(1);
m215910 0:9acdbbfa4eb2 36
m215910 0:9acdbbfa4eb2 37 } //while
m215910 0:9acdbbfa4eb2 38 } //main