Diff: main.cpp

Revision:

0:b96618c1411a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri May 19 12:09:31 2017 +0000
@@ -0,0 +1,52 @@
+#include "mbed.h"
+#include "Pixy.h"
+#include "PID_Control.h"
+
+//------------------------------------
+// Example for PIxy UART connection.
+// Driver version 0.1
+// BUGS::
+// DO NOT USE PRINTF IN MAIN LOOP FOR PROPER OPERATION
+// Pixy has to be configured for UART with 460800 Baud
+// Pixy connected by UART (PA_9 and PA_10) with 230400 Baud
+//------------------------------------
+
+//communication
+Serial pc(USBTX, USBRX);
+Serial cam(PA_9, PA_10);
+
+DigitalOut myled(LED1);
+
+//motor stuff
+DigitalOut enableMotorDriver(PB_2);
+PwmOut pwmL(PA_8);
+PwmOut pwmR(PA_9);
+
+Pixy pixy(cam);
+
+int main()
+{
+    PID_Control pid;
+    
+    pid.setPIDValues( 0.001f, 0.001f, 0.00015f, 0.3f, -0.3f, 1000);
+    
+    pc.baud( 115200 );
+    pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
+    pwmR.period(0.00005f);
+    enableMotorDriver = 1;
+
+    //int skipper = 0;
+
+    while(1) {
+        wait( 0.005f );
+
+        //  if( ++skipper % 100 == 0)
+        //      printf("x=%d\n\r", pixy.getX());
+
+        float e = 160-pixy.getX();
+        float diff = pid.calc( e, 0.005f );
+        
+        pwmL = 0.5f - diff;
+        pwmR = 0.5f - diff;
+    }
+}