David Buck
v1.1 of orig program, slowly speeds up motor to find the poit at witch it gets stuck in the trigger or reaches top speed
main.cpp@1:86868f4b226a, 2010-02-05 (annotated)
- Committer:
- Kaikestu
- Date:
- Fri Feb 05 11:48:29 2010 +0000
- Revision:
- 1:86868f4b226a
- Parent:
- 0:8fab2b18d87d
- Child:
- 2:6d5f8ddf1145
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Kaikestu | 0:8fab2b18d87d | 1 | #include "mbed.h" |
| Kaikestu | 0:8fab2b18d87d | 2 | #include "Servo.h" |
| Kaikestu | 0:8fab2b18d87d | 3 | |
| Kaikestu | 1:86868f4b226a | 4 | |
| Kaikestu | 0:8fab2b18d87d | 5 | DigitalOut myled(LED1); |
| Kaikestu | 0:8fab2b18d87d | 6 | DigitalOut myled2(LED2); |
| Kaikestu | 0:8fab2b18d87d | 7 | InterruptIn w(p16); |
| Kaikestu | 0:8fab2b18d87d | 8 | Timer timer; |
| Kaikestu | 1:86868f4b226a | 9 | LocalFileSystem local("local"); |
| Kaikestu | 0:8fab2b18d87d | 10 | Servo serv (p21); |
| Kaikestu | 0:8fab2b18d87d | 11 | |
| Kaikestu | 0:8fab2b18d87d | 12 | int count,begin,end; |
| Kaikestu | 0:8fab2b18d87d | 13 | int single_spin; |
| Kaikestu | 1:86868f4b226a | 14 | const int wheel = 257; //in mm |
| Kaikestu | 0:8fab2b18d87d | 15 | int Tdist=0; |
| Kaikestu | 1:86868f4b226a | 16 | int i =0; |
| Kaikestu | 0:8fab2b18d87d | 17 | |
| Kaikestu | 1:86868f4b226a | 18 | void trigger() { |
| Kaikestu | 1:86868f4b226a | 19 | FILE *fp = fopen("/local/out.csv", "a"); |
| Kaikestu | 0:8fab2b18d87d | 20 | |
| Kaikestu | 1:86868f4b226a | 21 | count = count + 1; |
| Kaikestu | 1:86868f4b226a | 22 | begin = timer.read_ms(); |
| Kaikestu | 1:86868f4b226a | 23 | single_spin = begin - end; |
| Kaikestu | 1:86868f4b226a | 24 | myled2 = !myled2; |
| Kaikestu | 1:86868f4b226a | 25 | fprintf(fp, "%d, %d\n", count, single_spin); |
| Kaikestu | 1:86868f4b226a | 26 | end = timer.read_ms(); |
| Kaikestu | 1:86868f4b226a | 27 | fclose(fp); |
| Kaikestu | 0:8fab2b18d87d | 28 | |
| Kaikestu | 0:8fab2b18d87d | 29 | } |
| Kaikestu | 0:8fab2b18d87d | 30 | |
| Kaikestu | 0:8fab2b18d87d | 31 | |
| Kaikestu | 0:8fab2b18d87d | 32 | int main() { |
| Kaikestu | 1:86868f4b226a | 33 | timer.start(); |
| Kaikestu | 1:86868f4b226a | 34 | w.rise(&trigger); |
| Kaikestu | 0:8fab2b18d87d | 35 | |
| Kaikestu | 1:86868f4b226a | 36 | while (count < 5 ) // set this so it dont keep smashing in to walls ! |
| Kaikestu | 1:86868f4b226a | 37 | { |
| Kaikestu | 1:86868f4b226a | 38 | |
| Kaikestu | 1:86868f4b226a | 39 | serv.write(0.3); |
| Kaikestu | 1:86868f4b226a | 40 | myled = !myled; |
| Kaikestu | 1:86868f4b226a | 41 | wait(0.1); |
| Kaikestu | 1:86868f4b226a | 42 | } |
| Kaikestu | 1:86868f4b226a | 43 | |
| Kaikestu | 1:86868f4b226a | 44 | serv.write(0.5); |
| Kaikestu | 0:8fab2b18d87d | 45 | |
| Kaikestu | 1:86868f4b226a | 46 | |
| Kaikestu | 1:86868f4b226a | 47 | |
| Kaikestu | 0:8fab2b18d87d | 48 | } |