Silvie van den Bogaard / Mbed 2 deprecated determine_x_setpoint

Determines the setpoint in x direction of the robot. Robot specific variables still have to be set.

Dependencies:   MODSERIAL mbed

main.cpp@0:0d70149fdb98, 2018-10-08 (annotated)

Committer:
Duif
Date:
Mon Oct 08 15:27:21 2018 +0000
Revision:
0:0d70149fdb98
Child:
1:f120a8734106
read the value of the button;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Duif 0:0d70149fdb98 1 //Determining the setpoint that the thing will have to follow
Duif 0:0d70149fdb98 2 #include "mbed.h"
Duif 0:0d70149fdb98 3 #include "MODSERIAL.h"
Duif 0:0d70149fdb98 4 DigitalIn button(SW2);
Duif 0:0d70149fdb98 5 DigitalIn direction(SW3);
Duif 0:0d70149fdb98 6 MODSERIAL pc(USBTX, USBRX); //makes sure the computer is hooked up
Duif 0:0d70149fdb98 7
Duif 0:0d70149fdb98 8 //defining of the variables
Duif 0:0d70149fdb98 9 float x_prev = 0; //previous setpoint
Duif 0:0d70149fdb98 10 float x_new; //new setpoint
Duif 0:0d70149fdb98 11 float x_max; //maximum value of setpoint
Duif 0:0d70149fdb98 12 float x_min; //minimum value of setpoint
Duif 0:0d70149fdb98 13 float v; //moving speed of setpoint
Duif 0:0d70149fdb98 14 volatile int s; //value of the switch
Duif 0:0d70149fdb98 15
Duif 0:0d70149fdb98 16 //equation is x_new = x_prev + s*v*dt
Duif 0:0d70149fdb98 17
Duif 0:0d70149fdb98 18 void EMGOn(){
Duif 0:0d70149fdb98 19 x_new = x_prev + s*v;
Duif 0:0d70149fdb98 20 x_prev = x_new;
Duif 0:0d70149fdb98 21 pc.printf("Set: %f",x_new);
Duif 0:0d70149fdb98 22 }
Duif 0:0d70149fdb98 23
Duif 0:0d70149fdb98 24 int main()
Duif 0:0d70149fdb98 25 {
Duif 0:0d70149fdb98 26 pc.baud(115200);
Duif 0:0d70149fdb98 27
Duif 0:0d70149fdb98 28 while (true) {
Duif 0:0d70149fdb98 29 s = button.read();
Duif 0:0d70149fdb98 30 }
Duif 0:0d70149fdb98 31 }