Using HIDScope for P(I)D controller
Dependencies: FastPWM HIDScope MODSERIAL QEI biquadFilter mbed
Fork of PES_tutorial_5 by
Diff: main.cpp
- Revision:
- 2:34c14fb36b5d
- Parent:
- 1:c19fc63d555f
- Child:
- 3:ea819bcf667f
diff -r c19fc63d555f -r 34c14fb36b5d main.cpp --- a/main.cpp Mon Oct 15 09:10:05 2018 +0000 +++ b/main.cpp Mon Oct 15 09:22:59 2018 +0000 @@ -1,7 +1,7 @@ #include "mbed.h" #include "FastPWM.h" // FastPWM library -//#include "MODSERIAL.h" -//MODSERIAL pc(USBTX, USBRX); +#include "MODSERIAL.h" +MODSERIAL pc(USBTX, USBRX); DigitalOut motor1_direction(D7); AnalogIn pot1(A4); InterruptIn but2(D3); @@ -17,6 +17,9 @@ void buttonpress() { motor1_direction = 1 - motor1_direction; + float motor1_velocity = pot1.read() *2.0; + pc.baud(115200); + pc.printf("Velocity is %f \n", motor1_velocity); } int main() @@ -24,5 +27,7 @@ motor1_pwm.period_us(60.0); // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to done once), FastPWM variabele MotorInterrupt.attach(Motor, 0.5); // Ticker die de functie Motor aanroept elke halve seconde, meer tijd is tragere respons op potmeter but2.rise(buttonpress); + + while(true){} // Endless loop } \ No newline at end of file