Reiko Randoja
/
ut_bbr_2018
Firmware for UT Robotex 2018 basketball robot
Revision 4:81cb68f1bcbd, committed 2019-11-11
- Comitter:
- Reiko
- Date:
- Mon Nov 11 19:19:43 2019 +0000
- Parent:
- 3:2f12dac1bcdf
- Commit message:
- Change default thrower (motor 3) pulsewidth_us from 800 to 100
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 2f12dac1bcdf -r 81cb68f1bcbd main.cpp --- a/main.cpp Tue Sep 17 05:12:24 2019 +0000 +++ b/main.cpp Mon Nov 11 19:19:43 2019 +0000 @@ -17,7 +17,6 @@ static const int NUMBER_OF_MOTORS = 3; PwmOut m3(M3_PWM); -DigitalOut servo(ISO_PWM5); Motor motor0(M0_PWM, M0_DIR1, M0_DIR2, M0_ENCA, M0_ENCB); Motor motor1(M1_PWM, M1_DIR1, M1_DIR2, M1_ENCA, M1_ENCB); @@ -28,9 +27,10 @@ &motor0, &motor1, &motor2 }; +DigitalOut servo(ISO_PWM5); + RFManager rfModule(COM1_TX, COM1_RX); -void serialInterrupt(); void parseCommand(char *command); Ticker pidTicker; @@ -68,7 +68,7 @@ motors[i]->setSpeed(0); } - m3.pulsewidth_us(800); + m3.pulsewidth_us(100); } } } @@ -87,18 +87,16 @@ } int main() { + pc.baud(115200); + pidTicker.attach(pidTick, 1 / PID_FREQ); - //serial.attach(&serialInterrupt); - //servo.period_us(20000); - - m3.pulsewidth_us(800); + m3.pulsewidth_us(100); //servo.pulsewidth_us(0); // TGY-180D (KC2462 controller) has problems with higher frequency PWM. // 50Hz works, but would like to use higher frequency for motors. - // Software PWM seems to be good enough. - + // Software PWM seems to be good enough. softPWMTicker.attach_us(softPWMTick, 20000); while (1) { @@ -107,7 +105,7 @@ } rfModule.update(); - + while (serial.readable()) { char c = serial.getc();