EMG driven robot which shoots elastic bands
Fork of ROBOBIRDS_FINAL by
main.cpp
- Committer:
- Fernon
- Date:
- 2015-09-28
- Revision:
- 5:d47e6a96256b
- Parent:
- 4:de94e1135968
- Child:
- 6:cf20f04dbab4
File content as of revision 5:d47e6a96256b:
#include "mbed.h" #include "QEI.h" #include "math.h" DigitalOut Direction(D4); //1 = CCW - 0 = CW PwmOut PowerMotor(D5); //van 0 tot 1 AnalogIn PotMeter(A1); QEI Encoder(D13,D12,NC,32,QEI::X2_ENCODING); //Encoder Serial pc(USBTX, USBRX); Ticker Pot; Ticker PC; double z; const double twopi = 6.2831853071795; const double pi = pi/2; int Pulses; double Rotatie; double Rotatietwopi; void readpot() { z = PotMeter.read()/10; } void print() { pc.printf ("Potmeter = %f\n", z); // het weergeven van de waarde waar z (PotMeter) op dat moment is pc.printf ("Rotatie = %f [pi radialen] \n", Rotatietwopi); } int main() { pc.baud(115200); PowerMotor.write(0); Pot.attach(readpot,0.001); // Deze ticker moet de waarde uitlezen van de PotMeter 10 keer per seconde PC.attach(print,0.5); while (true) { PowerMotor.write(z); Pulses = Encoder.getPulses(); Rotatie = (Pulses*twopi)/4192; Rotatietwopi = fmod(Rotatie,twopi); } }