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

Diff: main.cpp

Revision:
0:ac6a1723d393
Child:
2:f72b9dd19159
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 02 16:55:01 2018 +0000
@@ -0,0 +1,28 @@
+#include "mbed.h"
+#include "ContinuousServo.h"
+#include "Tach.h"
+
+Serial pc(USBTX,USBRX);
+//servos
+ContinuousServo left(p23);
+ContinuousServo right(p26);
+//encoders
+Tach tLeft(p17,64);
+Tach tRight(p13,64);
+
+int main() {
+    //wait for MATLAB command    
+    left.speed(0.0);
+    right.speed(0.0);
+    //while(1);
+    pc.getc();
+    //spin servos from -1 to 1 and print speed
+    for(float i=-1.0;i<=1.0;i+=0.01){
+        left.speed(-1.0*i);
+        right.speed(i);
+        wait_ms(100);
+        pc.printf("%f,%f\n", tLeft.getSpeed(),tRight.getSpeed());
+    }
+    left.stop();
+    right.stop();
+}