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Dependencies: Motor_NIT_Nagaoka_College PID Servo QEI SoftPWM mbed HBridge
Diff: main.cpp
- Revision:
- 0:00fcc71314cf
- Child:
- 1:107a7d8f4c54
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Jul 31 13:42:06 2015 +0000
@@ -0,0 +1,53 @@
+#define pi 3.141592
+#include "mbed.h"
+#include "rtos.h"
+#include "QEI.h"
+#include "Motor.h"
+#include "HMC6352.h"
+BusOut air(p15,p16);
+Serial conn(p29,p28);
+BusOut mypaul(p17,p18);
+Motor od(p21,p19,p20);
+Motor ot(p22,p10,p11);
+QEI sensort(p5,p6,NC,720);
+HMC6352 sensord(p9,p10);
+char read;
+void serial_thread(void const *argument)
+{
+ while(1) {
+ if(conn.readable()) {
+ read = conn.getc();
+ }
+ }
+}
+int main()
+{
+ sensord.setOpMode(HMC6352_CONTINUOUS,1,20);
+ Thread thread(serial_thread);
+ double direct,tilt,cdirect,adirect,atilt,tdirect,ttilt;
+ adirect = sensord.sample()/10.0;
+ sensort.reset();
+ while(1) {
+ air = read%4;
+ mypaul = (read>>2)%4;
+ if((read>>4)%2) {
+ tdirect++;
+ }
+ if((read>>5)%2) {
+ tdirect--;
+ }
+ if((read>>6)%2) {
+ ttilt++;
+ }
+ if((read>>7)%2) {
+ ttilt--;
+ }
+ cdirect = sensord.sample()/10.0;
+ direct = cdirect+540-adirect;
+ direct = int(direct+0.5)%360;
+ direct -= 180;
+ tilt = sensort.getPulses()/360.0*2/25.0*pi;
+ od.speed(tdirect-direct);
+ ot.speed(ttilt-tilt);
+ }
+}