soft robotic fish 6 dummy test code for motors
Dependencies: mbed
Fork of robfish_test_pwm_allmotors by
main.cpp@1:1c924d93c011, 2016-03-30 (annotated)
- Committer:
- rkk
- Date:
- Wed Mar 30 17:39:42 2016 +0000
- Revision:
- 1:1c924d93c011
- Parent:
- 0:c003ab5004eb
dummy code to test all motors
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
alex93 | 0:c003ab5004eb | 1 | /********************************************************************************* |
alex93 | 0:c003ab5004eb | 2 | * This code simply creates a pwm value for the BCU motor, valve motor, and pump |
alex93 | 0:c003ab5004eb | 3 | * motor. The BCU motor direction is governed by BCU_direction1 and |
alex93 | 0:c003ab5004eb | 4 | * BCU_direction2. If connected to a PC terminal, it prints out current readings. |
alex93 | 0:c003ab5004eb | 5 | *********************************************************************************/ |
alex93 | 0:c003ab5004eb | 6 | |
alex93 | 0:c003ab5004eb | 7 | #include "mbed.h" |
alex93 | 0:c003ab5004eb | 8 | using namespace std; |
alex93 | 0:c003ab5004eb | 9 | |
rkk | 1:1c924d93c011 | 10 | //Serial pc(USBTX, USBRX); |
rkk | 1:1c924d93c011 | 11 | //AnalogIn valve_current(p19); |
rkk | 1:1c924d93c011 | 12 | //AnalogIn bcu_current(p20); |
alex93 | 0:c003ab5004eb | 13 | PwmOut valve_pwm(p21); |
alex93 | 0:c003ab5004eb | 14 | PwmOut bcu_pwm(p22); |
alex93 | 0:c003ab5004eb | 15 | PwmOut motor_pwm(p23); |
rkk | 1:1c924d93c011 | 16 | //PwmOut led1(LED1); |
rkk | 1:1c924d93c011 | 17 | //PwmOut led2(LED2); |
rkk | 1:1c924d93c011 | 18 | PwmOut led3(LED3); |
rkk | 1:1c924d93c011 | 19 | //DigitalOut bcu_direction1(p11); |
rkk | 1:1c924d93c011 | 20 | //DigitalOut bcu_direction2(p12); |
alex93 | 0:c003ab5004eb | 21 | |
alex93 | 0:c003ab5004eb | 22 | int main() { |
alex93 | 0:c003ab5004eb | 23 | // set serial transfer rate |
rkk | 1:1c924d93c011 | 24 | //pc.baud(9600)//; |
rkk | 1:1c924d93c011 | 25 | // |
rkk | 1:1c924d93c011 | 26 | valve_pwm = 0.0; |
rkk | 1:1c924d93c011 | 27 | // led1 = 0.3; |
rkk | 1:1c924d93c011 | 28 | // wait(4); |
rkk | 1:1c924d93c011 | 29 | // valve_pwm = 0.0; |
rkk | 1:1c924d93c011 | 30 | // led1 = 0.0; |
rkk | 1:1c924d93c011 | 31 | // |
rkk | 1:1c924d93c011 | 32 | bcu_pwm = 0.0; |
rkk | 1:1c924d93c011 | 33 | // led2 = 0.3; |
rkk | 1:1c924d93c011 | 34 | // bcu_direction1 = 0; // BCU_direction1 must not equal BCU_direction2 for the BCU motor to turn |
rkk | 1:1c924d93c011 | 35 | // bcu_direction2 = 1; |
rkk | 1:1c924d93c011 | 36 | // |
rkk | 1:1c924d93c011 | 37 | // wait(4); |
rkk | 1:1c924d93c011 | 38 | // bcu_direction1 = 1; // BCU_direction1 must not equal BCU_direction2 for the BCU motor to turn |
rkk | 1:1c924d93c011 | 39 | // bcu_direction2 = 0; |
rkk | 1:1c924d93c011 | 40 | // |
rkk | 1:1c924d93c011 | 41 | // wait(4); |
rkk | 1:1c924d93c011 | 42 | // |
rkk | 1:1c924d93c011 | 43 | // bcu_pwm = 0.0; |
rkk | 1:1c924d93c011 | 44 | // led2 = 0.0; |
alex93 | 0:c003ab5004eb | 45 | |
rkk | 1:1c924d93c011 | 46 | |
rkk | 1:1c924d93c011 | 47 | motor_pwm = 0.7; |
rkk | 1:1c924d93c011 | 48 | led3 = 0.7; |
rkk | 1:1c924d93c011 | 49 | wait(20); |
rkk | 1:1c924d93c011 | 50 | motor_pwm = 0.0; |
rkk | 1:1c924d93c011 | 51 | led3 = 0.0; |
rkk | 1:1c924d93c011 | 52 | |
rkk | 1:1c924d93c011 | 53 | // led2 = 1; |
rkk | 1:1c924d93c011 | 54 | // |
rkk | 1:1c924d93c011 | 55 | // while(1) { |
rkk | 1:1c924d93c011 | 56 | // //pc.printf("valve current percentage: %3.3f%%\n", valve_current.read()*100.0f); |
rkk | 1:1c924d93c011 | 57 | // wait(1); |
rkk | 1:1c924d93c011 | 58 | // } |
alex93 | 0:c003ab5004eb | 59 | } |