Fernon Eijkhoudt
/
ROBOBIRDS_FINAL
EMG driven robot which shoots elastic bands
Fork of RoboBirdV1 by
main.cpp
- Committer:
- Fernon
- Date:
- 2015-09-28
- Revision:
- 2:f0e9ffc5df09
- Parent:
- 1:bb11e38dda43
- Child:
- 3:af3f0ed8c99e
File content as of revision 2:f0e9ffc5df09:
#include "mbed.h" #include "QEI.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; const double pi = 3.14159265359; int Pulses; double Rotatie; double z; void readpot (double& z) { z = PotMeter.read(); } int main() { pc.baud(115200); PowerMotor.write(0); Pot.attach(&readpot,&z,0.1); while (true) { Pulses = Encoder.getPulses(); Rotatie = (Pulses*2*pi)/4192; pc.printf ("Potmeter = %f\n", z); pc.printf ("Rotatie = %f [radialen] \n", Rotatie); } }