Bas van Buuren / Mbed 2 deprecated motor_input

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   Encoder HIDScope mbed-dsp mbed MODSERIAL

main.cpp@3:e0389c90de3d, 2014-10-28 (annotated)

Committer:
BasvanBuuren
Date:
Tue Oct 28 13:34:33 2014 +0000
Revision:
3:e0389c90de3d
Parent:
2:f86efc62a093
Child:
4:ce3d15797939
Laatste werkende versie

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BasvanBuuren 0:8af618dc161b 1 #include "mbed.h"
BasvanBuuren 0:8af618dc161b 2 #include "HIDScope.h"
BasvanBuuren 0:8af618dc161b 3 //#include "mbed-dsp.h"
BasvanBuuren 0:8af618dc161b 4 #include "encoder.h"
BasvanBuuren 1:729c475805f5 5 #include <iostream>
BasvanBuuren 0:8af618dc161b 6
BasvanBuuren 1:729c475805f5 7 #define MAXENCO 300
BasvanBuuren 0:8af618dc161b 8 #define MINENCO 0
BasvanBuuren 0:8af618dc161b 9
BasvanBuuren 0:8af618dc161b 10 Encoder encoderA(PTD0,PTD2);
BasvanBuuren 1:729c475805f5 11 PwmOut m1_speedout(PTA5);
BasvanBuuren 0:8af618dc161b 12 DigitalOut m1_dir(PTA4);
BasvanBuuren 0:8af618dc161b 13
BasvanBuuren 3:e0389c90de3d 14 void slam();
BasvanBuuren 0:8af618dc161b 15 int y1;
BasvanBuuren 1:729c475805f5 16 float m1_speed;
BasvanBuuren 0:8af618dc161b 17
BasvanBuuren 3:e0389c90de3d 18 void slam()
BasvanBuuren 0:8af618dc161b 19 {
BasvanBuuren 3:e0389c90de3d 20 spank_ready=false;
BasvanBuuren 0:8af618dc161b 21 float enca;
BasvanBuuren 0:8af618dc161b 22 enca=encoderA.getPosition();
BasvanBuuren 0:8af618dc161b 23
BasvanBuuren 3:e0389c90de3d 24 //if (enca <= 0)
BasvanBuuren 0:8af618dc161b 25 {
BasvanBuuren 0:8af618dc161b 26 switch(y1)
BasvanBuuren 0:8af618dc161b 27 {
BasvanBuuren 0:8af618dc161b 28
BasvanBuuren 0:8af618dc161b 29 case 1:
BasvanBuuren 0:8af618dc161b 30 m1_dir=1;
BasvanBuuren 0:8af618dc161b 31 m1_speed=0.33;
BasvanBuuren 1:729c475805f5 32 m1_speedout=m1_speed;
BasvanBuuren 0:8af618dc161b 33 break;
BasvanBuuren 0:8af618dc161b 34 case 2:
BasvanBuuren 0:8af618dc161b 35 m1_dir=1;
BasvanBuuren 0:8af618dc161b 36 m1_speed=0.66;
BasvanBuuren 1:729c475805f5 37 m1_speedout=m1_speed;
BasvanBuuren 0:8af618dc161b 38 break;
BasvanBuuren 0:8af618dc161b 39 case 3:
BasvanBuuren 0:8af618dc161b 40 m1_dir=1;
BasvanBuuren 0:8af618dc161b 41 m1_speed=1.0;
BasvanBuuren 1:729c475805f5 42 m1_speedout=m1_speed;
BasvanBuuren 0:8af618dc161b 43 break;
BasvanBuuren 0:8af618dc161b 44 default :
BasvanBuuren 0:8af618dc161b 45 m1_speed=0;
BasvanBuuren 0:8af618dc161b 46 }
BasvanBuuren 1:729c475805f5 47 while (enca < MAXENCO)
BasvanBuuren 1:729c475805f5 48 {
BasvanBuuren 1:729c475805f5 49 enca=encoderA.getPosition();
BasvanBuuren 1:729c475805f5 50 cout << enca << endl;
BasvanBuuren 1:729c475805f5 51 }
BasvanBuuren 0:8af618dc161b 52 m1_speed=0;
BasvanBuuren 1:729c475805f5 53 m1_speedout=m1_speed;
BasvanBuuren 0:8af618dc161b 54 m1_dir=0;
BasvanBuuren 2:f86efc62a093 55 cout << "blieb!" << endl;
BasvanBuuren 2:f86efc62a093 56 m1_speed=0.4;
BasvanBuuren 2:f86efc62a093 57 m1_speedout=m1_speed;
BasvanBuuren 1:729c475805f5 58 while(enca > MINENCO)
BasvanBuuren 0:8af618dc161b 59 {
BasvanBuuren 1:729c475805f5 60 enca=encoderA.getPosition();
BasvanBuuren 2:f86efc62a093 61 cout << enca << endl;
BasvanBuuren 0:8af618dc161b 62 }
BasvanBuuren 0:8af618dc161b 63 m1_speed=0;
BasvanBuuren 1:729c475805f5 64 m1_speedout=m1_speed;
BasvanBuuren 0:8af618dc161b 65 }
BasvanBuuren 0:8af618dc161b 66 }
BasvanBuuren 0:8af618dc161b 67
BasvanBuuren 0:8af618dc161b 68 int main()
BasvanBuuren 0:8af618dc161b 69 {
BasvanBuuren 0:8af618dc161b 70 while(1)
BasvanBuuren 0:8af618dc161b 71 {
BasvanBuuren 1:729c475805f5 72 cin >> y1;
BasvanBuuren 1:729c475805f5 73 cout << y1 << endl;
BasvanBuuren 3:e0389c90de3d 74 slam();
BasvanBuuren 0:8af618dc161b 75 }
BasvanBuuren 0:8af618dc161b 76 }