PS3 version
Dependencies: Motor_NIT_Nagaoka_College PID QEI SoftServo SoftPWM mbed DebounceIn
Fork of NHK2015 by
main.cpp
- Committer:
- WAT34
- Date:
- 2015-09-16
- Revision:
- 10:fefff533c442
- Parent:
- 8:9d8999740604
File content as of revision 10:fefff533c442:
#define pi 3.141593 #include "mbed.h" #include "Motor.h" #include "PID.h" #include "QEI.h" #include "Servo.h" #define RATE 0.05 DigitalOut led(LED1); BusOut air(PC_10,PC_11); DigitalOut out(PC_12); Serial conn(NC,PA_12); Serial pc(SERIAL_TX, SERIAL_RX); PID Tp(50,40000,0,0.001); Motor ot(PB_13,PB_3,PA_10); QEI sensort(PC_3,PC_0,NC,624); Servo L(PC_9); Servo R(PC_8); Timeout ai; char read; int Rs = 0,Ls = 0; int i = 0; void zero(){ air = 0; i = 0; out = 1; } void rev(){ air = 2; ai.attach(&zero,1.0); out = 0; } int main() { pc.printf("connected\n\r"); //conn.baud(115200); //ot.setfrequency(60000); double tilt = 0,lo = 0,ro = 0; int8_t ttilt = 0,tmpread = 0,tmpttilt = 0; char tro = 0,tlo = 0; Tp.setInputLimits(-45,45); Tp.setOutputLimits(-0.9,0.9); Tp.setMode(1); led=1; Tp.setBias(0.0); while(1) { if(conn.getc() == 0xFF) { led = !led; tmpread = conn.getc(); tmpttilt = conn.getc(); tro = conn.getc(); tlo = conn.getc(); if(tmpread^tmpttilt^tro^tlo == conn.getc()){ ttilt = tmpttilt; read = tmpread; ro = tro; lo = tlo; } } if((read>>2)%2 && i == 0){ air = 1; ai.attach(&rev,1.0); i = 1; } Tp.setSetPoint(ttilt); tilt = double(sensort.getPulses()); tilt = tilt*61/5128.0; Tp.setProcessValue(tilt); if (abs(lo) < 0.1){ lo = 0; } if (abs(ro) < 0.1){ ro = 0; } L= (lo-127)/127.0; R=(ro-127)/127.0; ot.speed(Tp.compute()); //pc.printf("%f %d\n\r",Tp.compute(),read); pc.printf("%d-%f\r\n",read,lo); } }