Fernon Eijkhoudt / Mbed 2 deprecated RoboBirdV1

Alles in 1

Dependencies:   Encoder HIDScope MODSERIAL QEI mbed

Fork of RoboBird3 by Fernon Eijkhoudt

main.cpp@1:bb11e38dda43, 2015-09-23 (annotated)

Committer:
Fernon
Date:
Wed Sep 23 12:19:33 2015 +0000
Revision:
1:bb11e38dda43
Parent:
0:5a5f417fa1b2
Child:
2:f0e9ffc5df09
Working Encoder and motor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Fernon 0:5a5f417fa1b2 1 #include "mbed.h"
Fernon 0:5a5f417fa1b2 2 #include "QEI.h"
Fernon 0:5a5f417fa1b2 3
Fernon 1:bb11e38dda43 4 DigitalOut Direction(D4); //1 = CCW - 0 = CW
Fernon 1:bb11e38dda43 5 PwmOut PowerMotor(D5); //van 0 tot 1
Fernon 1:bb11e38dda43 6 AnalogIn PotMeter(A1);
Fernon 1:bb11e38dda43 7 QEI Encoder(D13,D12,NC,32,QEI::X2_ENCODING); //Encoder
Fernon 1:bb11e38dda43 8 Serial pc(USBTX, USBRX);
Fernon 0:5a5f417fa1b2 9
Fernon 1:bb11e38dda43 10 double P;
Fernon 1:bb11e38dda43 11 const double pi = 3.14159265359;
Fernon 1:bb11e38dda43 12 int Pulses;
Fernon 0:5a5f417fa1b2 13
Fernon 0:5a5f417fa1b2 14 int main()
Fernon 0:5a5f417fa1b2 15 {
Fernon 0:5a5f417fa1b2 16 while (true) {
Fernon 1:bb11e38dda43 17 pc.baud(115200);
Fernon 0:5a5f417fa1b2 18 for (int n = 0; n < 2; n++) {
Fernon 1:bb11e38dda43 19 //P = PotMeter.read();
Fernon 1:bb11e38dda43 20 //pc.printf('P = %f/n', P);
Fernon 1:bb11e38dda43 21 Pulses = Encoder.getPulses();
Fernon 1:bb11e38dda43 22 pc.printf ("Pulses = %i", Pulses);
Fernon 1:bb11e38dda43 23 // pc.printf ("K = %i \n", K);
Fernon 0:5a5f417fa1b2 24 Direction.write(0);
Fernon 0:5a5f417fa1b2 25 PowerMotor.write(0.5);
Fernon 0:5a5f417fa1b2 26 wait (1);
Fernon 0:5a5f417fa1b2 27 Direction.write(1);
Fernon 0:5a5f417fa1b2 28 wait (1);
Fernon 0:5a5f417fa1b2 29 }
Fernon 0:5a5f417fa1b2 30 PowerMotor.write(0);
Fernon 0:5a5f417fa1b2 31 return (0);
Fernon 0:5a5f417fa1b2 32 }
Fernon 0:5a5f417fa1b2 33 }