Diff: main.cpp

Revision:

0:e5edc0373da0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat May 07 19:27:14 2011 +0000
@@ -0,0 +1,47 @@
+#include "mbed.h"
+#include "MCP4922.h"
+
+MCP4922 MCP(p5, p7,p8);  // MOSI, SCLK, CS
+
+int main() {
+
+    MCP.frequency(1000000);
+
+    float x = 0.5;
+    float y = 0.25;
+    float z = 0.125;
+    float oldx = 0;
+    float oldy = 0;
+    float oldz = 0;
+        
+    float dt = 0.005;
+    
+    float alpha = 15.6;
+    float beta = 28.58;
+    float a = -1.14286;
+    float b = -0.714286;
+    float h = 0;
+    
+    int xout = 0;
+    int yout = 0;
+
+    while (1) {
+
+    oldx = x;
+    oldy = y;
+    oldz = z;
+
+    h = (b * x) + (0.5 * (a - b) * (abs(x+1) - abs(x-1)));
+                
+    x = oldx + dt * (alpha * (oldy - oldx - h));
+    y = oldy + dt * (oldx - oldy + oldz);
+    z = oldz + dt * (-beta * oldy);
+    
+    xout = 2047+(850*x);        
+    yout = 2047+6*(800*y);
+   
+    MCP.writeA(xout);
+    MCP.writeB(yout);
+
+    }
+}
\ No newline at end of file