main.cpp

00001 /**
00002 * Copyright (c)2010 ARM Ltd.
00003 * Released under the MIT License: http://mbed.org/license/mit
00004 */
00005 
00006 #include "mbed.h"
00007 #include "QEI.h"
00008 #include "Motor.h"
00009 #include "SerialRPCInterface.h"
00010 
00011 //Create the interface on the USB Serial Port
00012 SerialRPCInterface SerialInterface(USBTX, USBRX);
00013 
00014 QEI Encoder(p29 ,p30, NC, 48);
00015 Motor Wheel(p23, p21, p22);
00016 
00017 //Create float variables
00018 float MotorOutput = 50;
00019 float Percentage = 0;
00020 
00021 //Make these variables accessible over RPC by attaching them to an RPCVariable
00022 RPCVariable<float> RPCMotorOut(&MotorOutput, "MotorOutput");
00023 RPCVariable<float> RPCPercentage(&Percentage, "Percentage");
00024 
00025 int main(){
00026 
00027     Encoder.reset();
00028     float NoPulses;
00029     
00030     while(1){ 
00031          NoPulses = Encoder.getPulses();
00032         Percentage = ((NoPulses / 48) * 100);
00033         //RPC will be used to set the value of MotorOutput.
00034         Wheel.speed((MotorOutput - 50) * 2 / 100);
00035         wait(0.005);
00036     }
00037 }