Diff: inc/example2.h

Revision:

3:b7d951c6f551

Child:

4:d69f22061c03

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/example2.h	Tue Jul 05 14:27:56 2011 +0000
@@ -0,0 +1,73 @@
+
+#include "mbed.h"
+#include "SimpleTLE5206Profiler.h"
+
+Serial pc(USBTX, USBRX);
+
+/* See example1.h for basic notes.
+ *
+ * This example shows how to use the acceleration and deceleration
+ * profiler to manage changing speed in a simple linear fashion.
+ *
+ * The default accel and decel rates are 0.01/10ms. So when a speed
+ * of say +1.0 is demanded, it actually takes 1seond to reach that
+ * target desired speed due to the acceleration profiler. Likewise
+ * for deceleration.
+ *
+ * You can adjust the rates by altering the "poll interval" and the
+ * step change size.
+ */
+
+#define DUTY_CYCLE_IN_HERTZ 50
+
+// Create a motor "A", driven by a TLE5206 on pins 21 and 22 (attach scope first, not a motor!)
+SimpleTLE5206Output Ain1(p21);    // TLE5206 In1 is connected to p21
+SimpleTLE5206Output Ain2(p22);    // TLE5206 In2 is connected to p22
+SimpleTLE5206Profiler motorA(&Ain1, &Ain2, DUTY_CYCLE_IN_HERTZ); // Create the TLE5206 controller.
+
+int main() {
+
+    pc.baud(115200);
+
+    while(1) {    
+        // Start from stationary.
+        motorA.setSpeed(0);
+        wait(1);
+        
+        // Command full desired speed CW
+        motorA.setSpeed(1.0);
+        
+        // Wait for it to reach that speed.
+        while( motorA.getSpeed() != 1.0) ;
+        
+        // Wait for 3seconds
+        wait(3);
+        
+        // Stop the motor
+        motorA.setSpeed(0.0);
+        while( motorA.getSpeed() != 0.0) ;   
+        
+        // Wait for 3seconds
+        wait(3);
+        
+        // Command full desired speed CCW
+        motorA.setSpeed(-1.0);
+        
+        // Wait for it to reach that speed.
+        while( motorA.getSpeed() != -1.0) ;
+        
+        // Wait for 3seconds
+        wait(3);
+        
+        // Stop the motor
+        motorA.setSpeed(0.0);
+        while( motorA.getSpeed() != 0.0) ;   
+        
+        // Wait for 3seconds
+        wait(3);
+
+        // repeat the cycle.        
+    }
+}
+
+