PS3 version
Dependencies: Motor_NIT_Nagaoka_College PID QEI SoftServo SoftPWM mbed DebounceIn
Fork of NHK2015 by
Diff: main.cpp
- Revision:
- 8:9d8999740604
- Parent:
- 7:920cbfb28112
- Child:
- 9:98ef1eee7ace
- Child:
- 10:fefff533c442
diff -r 920cbfb28112 -r 9d8999740604 main.cpp --- a/main.cpp Thu Sep 10 01:43:12 2015 +0000 +++ b/main.cpp Mon Sep 14 04:51:25 2015 +0000 @@ -3,17 +3,18 @@ #include "Motor.h" #include "PID.h" #include "QEI.h" +#include "Servo.h" #define RATE 0.05 -BusOut air(p13,p14); -DigitalOut out(p12); -Serial conn(p28,p27); +BusOut air(PC_10,PC_11); +DigitalOut out(PC_12); +Serial conn(PA_15,PB_7); Serial pc(USBTX,USBRX); -Motor L(p21,p15,p16); -Motor R(p22,p17,p18); PID Tp(50,40000,0,0.001); BusOut led(LED1,LED2,LED3,LED4); -Motor ot(p23,p19,p20); -QEI sensort(p29,p30,NC,624); +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; @@ -30,6 +31,7 @@ } int main() { + ot.setfrequency(60000); double tilt = 0,lo = 0,ro = 0; int8_t ttilt = 0,tmpread = 0,tmpttilt = 0; char tro = 0,tlo = 0; @@ -65,8 +67,8 @@ if (abs(ro) < 0.1){ ro = 0; } - L.speed(lo); - R.speed(ro); + L.write((lo+1.0)/2.0); + R.write((ro+1.0)/2.0); ot.speed(Tp.compute()); //pc.printf("%f %d\n\r",Tp.compute(),read); //pc.printf("%d-%d\r\n",tlo,tro);