Motor class working
Dependencies: QEI biquadFilter mbed
main.cpp@3:9d861827b714, 2017-10-16 (annotated)
- Committer:
- Alex_Kyrl
- Date:
- Mon Oct 16 09:29:33 2017 +0000
- Revision:
- 3:9d861827b714
- Parent:
- 1:1a01edf0379c
motor class;
Who changed what in which revision?
User | Revision | Line number | New 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 | } |