first commit
Dependencies: PM2_Libary
Diff: main.cpp
- Revision:
- 25:ea1d6e27c895
- Parent:
- 24:86f1a63e35a0
- Child:
- 26:28693b369945
diff -r 86f1a63e35a0 -r ea1d6e27c895 main.cpp --- a/main.cpp Mon Mar 14 15:26:35 2022 +0100 +++ b/main.cpp Mon Mar 14 14:34:36 2022 +0000 @@ -42,7 +42,7 @@ // create SpeedController and PositionController controller objects, default parametrization is for 78.125:1 gear box float max_voltage = 12.0f; // define maximum voltage of battery packs, adjust this to 6.0f V if you only use one batterypack float counts_per_turn = 20.0f * 78.125f; // define counts per turn at gearbox end: counts/turn * gearratio -float kn = 180.0f / 12.0f; // define motor constant in rpm per V +float kn = 180.0f / 12.0f; // define motor constant in rpm per V // float k_gear = 25.0f / 78.125f; // define additional ratio in case you are using a dc motor with a different gear box, e.g. 25:1 // float kp = 0.1f; // define custom kp, this is the default speed controller gain for gear box 78.125:1 @@ -65,11 +65,11 @@ // Groove Ultrasonic Ranger V2.0 float us_distance_cm = 0.0f; // define variable to store measurement -RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 17500); +RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 17500); // RangeFinder us_range_finder(PB_12, 5782.0f, 0.02f, 7000); // create range finder object (ultra sonic distance sensor), 1/main_task_period_ms = 20 Hz parametrization // LSM9DS1 IMU, carefull: not all PES boards have an imu (chip shortage) -// LSM9DS1 imu(PC_9, PA_8); // create LSM9DS1 comunication object, if you want to be able to use the imu you need to #include "LSM9DS1_i2c.h" +// LSM9DS1 imu(PC_9, PA_8); // create LSM9DS1 comunication object, if you want to be able to use the imu you need to #include "LSM9DS1_i2c.h" int main() { @@ -88,7 +88,7 @@ enable_motors = 1; // motor M1 is used open-loop, we need to initialize the pwm and set pwm output to zero at the beginning, range: 0...1 -> u_min...u_max: 0.5 -> 0 V - pwm_M1.period(pwm_period_s); + pwm_M1.period(pwm_period_s); pwm_M1.write(0.5); // enable servos, you can also disable them at any point in your program if you don't want your servos to become warm @@ -176,7 +176,7 @@ } void user_button_pressed_fcn() -{ +{ user_button_timer.reset(); }