USNA ES202 / Mbed 2 deprecated ES202_FinalProject_workingExample

working example of final project code (in development)

Dependencies:   ContinuousServo TCS3472_I2C Tach mbed

Fork of ES202FinalProject by John Donnal

main.cpp@0:ac6a1723d393, 2018-03-02 (annotated)

Committer:
jdonnal
Date:
Fri Mar 02 16:55:01 2018 +0000
Revision:
0:ac6a1723d393
Child:
2:f72b9dd19159
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jdonnal 0:ac6a1723d393 1 #include "mbed.h"
jdonnal 0:ac6a1723d393 2 #include "ContinuousServo.h"
jdonnal 0:ac6a1723d393 3 #include "Tach.h"
jdonnal 0:ac6a1723d393 4
jdonnal 0:ac6a1723d393 5 Serial pc(USBTX,USBRX);
jdonnal 0:ac6a1723d393 6 //servos
jdonnal 0:ac6a1723d393 7 ContinuousServo left(p23);
jdonnal 0:ac6a1723d393 8 ContinuousServo right(p26);
jdonnal 0:ac6a1723d393 9 //encoders
jdonnal 0:ac6a1723d393 10 Tach tLeft(p17,64);
jdonnal 0:ac6a1723d393 11 Tach tRight(p13,64);
jdonnal 0:ac6a1723d393 12
jdonnal 0:ac6a1723d393 13 int main() {
jdonnal 0:ac6a1723d393 14 //wait for MATLAB command
jdonnal 0:ac6a1723d393 15 left.speed(0.0);
jdonnal 0:ac6a1723d393 16 right.speed(0.0);
jdonnal 0:ac6a1723d393 17 //while(1);
jdonnal 0:ac6a1723d393 18 pc.getc();
jdonnal 0:ac6a1723d393 19 //spin servos from -1 to 1 and print speed
jdonnal 0:ac6a1723d393 20 for(float i=-1.0;i<=1.0;i+=0.01){
jdonnal 0:ac6a1723d393 21 left.speed(-1.0*i);
jdonnal 0:ac6a1723d393 22 right.speed(i);
jdonnal 0:ac6a1723d393 23 wait_ms(100);
jdonnal 0:ac6a1723d393 24 pc.printf("%f,%f\n", tLeft.getSpeed(),tRight.getSpeed());
jdonnal 0:ac6a1723d393 25 }
jdonnal 0:ac6a1723d393 26 left.stop();
jdonnal 0:ac6a1723d393 27 right.stop();
jdonnal 0:ac6a1723d393 28 }