Romain Ame / Mbed 2 deprecated Robot2016_2-0_STATIC

Voili voilou

Dependencies:   RoboClaw StepperMotor mbed

Fork of Robot2016_2-0 by ARES

main.cpp@0:ad9600df4a70, 2015-11-16 (annotated)

Committer:
sype
Date:
Mon Nov 16 11:32:44 2015 +0000
Revision:
0:ad9600df4a70
Child:
2:abdf8c6823a1
oklm;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 0:ad9600df4a70 1 #include "Odometry.h"
sype 0:ad9600df4a70 2
sype 0:ad9600df4a70 3 #define dt 10000
sype 0:ad9600df4a70 4
sype 0:ad9600df4a70 5 Ticker ticker;
sype 0:ad9600df4a70 6 //Timer t;
sype 0:ad9600df4a70 7
sype 0:ad9600df4a70 8 Odometry odo(47.4, 47.2, 231.0);
sype 0:ad9600df4a70 9
sype 0:ad9600df4a70 10 //Serial pc(PA_9, PA_10);
sype 0:ad9600df4a70 11 //Serial pc(USBTX, USBRX);
sype 0:ad9600df4a70 12
sype 0:ad9600df4a70 13 void update_main(void);
sype 0:ad9600df4a70 14
sype 0:ad9600df4a70 15 int main(void)
sype 0:ad9600df4a70 16 {
sype 0:ad9600df4a70 17 odo.setPos(0, 0, 0);
sype 0:ad9600df4a70 18 //pc.baud(115200);
sype 0:ad9600df4a70 19 //pc.printf("Hello world !\n\r");
sype 0:ad9600df4a70 20 ticker.attach_us(&update_main,dt); // 100 Hz
sype 0:ad9600df4a70 21 wait_ms(1000);
sype 0:ad9600df4a70 22
sype 0:ad9600df4a70 23 while(1)
sype 0:ad9600df4a70 24 {
sype 0:ad9600df4a70 25 //pc.printf("Enc1 : %6.2f\tSpeed1 :%6.2f\tEnc2 : %6.2f\tSpeed2 : %6.2f\n\r",enc1,speed1,enc2,speed2);
sype 0:ad9600df4a70 26 //pc.printf("Theta : %5d\n\r", _roboclaw.ReadEncM1(ADR));
sype 0:ad9600df4a70 27 wait_ms(10);
sype 0:ad9600df4a70 28 }
sype 0:ad9600df4a70 29 }
sype 0:ad9600df4a70 30
sype 0:ad9600df4a70 31 void update_main(void)
sype 0:ad9600df4a70 32 {
sype 0:ad9600df4a70 33 odo.update_odo();
sype 0:ad9600df4a70 34 odo.GotoXYT(100,100,0);
sype 0:ad9600df4a70 35 //pc.printf("Theta : %3.3f\n\r", odo.getTheta()*180/PI);
sype 0:ad9600df4a70 36 }