Alexandros Kyrloglou / Mbed 2 deprecated BioRobotics_pool_bot

Motor class working

Dependencies:   QEI biquadFilter mbed

main.cpp@4:38c653bfec5f, 2017-10-16 (annotated)

Committer:
Alex_Kyrl
Date:
Mon Oct 16 12:34:11 2017 +0000
Revision:
4:38c653bfec5f
Parent:
3:9d861827b714 
added EMG class;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Alex_Kyrl 0:f2ae86546400 1 #include "Motor.h"
Alex_Kyrl 3:9d861827b714 2 Ticker tick;
Alex_Kyrl 3:9d861827b714 3 Ticker tack;
Alex_Kyrl 3:9d861827b714 4 DigitalIn a(D2);
Alex_Kyrl 3:9d861827b714 5 DigitalIn b(D3);
Alex_Kyrl 3:9d861827b714 6 Motor motor;
Alex_Kyrl 3:9d861827b714 7
Alex_Kyrl 3:9d861827b714 8 void ticker()
Alex_Kyrl 3:9d861827b714 9 {
Alex_Kyrl 3:9d861827b714 10 motor.Motor::set_angle();
Alex_Kyrl 3:9d861827b714 11 motor.Motor::set_velocity();
Alex_Kyrl 3:9d861827b714 12
Alex_Kyrl 3:9d861827b714 13 }
Alex_Kyrl 3:9d861827b714 14 void tock(){
Alex_Kyrl 3:9d861827b714 15
Alex_Kyrl 3:9d861827b714 16 if(a==0){
Alex_Kyrl 3:9d861827b714 17 motor.control_velocity(0.8);}
Alex_Kyrl 3:9d861827b714 18 else{
Alex_Kyrl 3:9d861827b714 19 motor.control_velocity(0);}
Alex_Kyrl 3:9d861827b714 20
Alex_Kyrl 3:9d861827b714 21 if(b==0){
Alex_Kyrl 3:9d861827b714 22 motor.change_direction();}
Alex_Kyrl 3:9d861827b714 23
Alex_Kyrl 3:9d861827b714 24 }
Alex_Kyrl 3:9d861827b714 25
Alex_Kyrl 0:f2ae86546400 26
Alex_Kyrl 0:f2ae86546400 27 int main()
Alex_Kyrl 0:f2ae86546400 28 {
Alex_Kyrl 3:9d861827b714 29
Alex_Kyrl 3:9d861827b714 30 tack.attach(&tock, 0.2);
Alex_Kyrl 3:9d861827b714 31 tick.attach(&ticker, 0.01);
Alex_Kyrl 3:9d861827b714 32
Alex_Kyrl 3:9d861827b714 33
Alex_Kyrl 3:9d861827b714 34
Alex_Kyrl 3:9d861827b714 35
Alex_Kyrl 0:f2ae86546400 36 }