Anon Anon
/
MM_rat_Assignment4
Test
main.cpp@0:f7fc09f9c7ce, 2017-11-20 (annotated)
- Committer:
- Showboo
- Date:
- Mon Nov 20 01:49:19 2017 +0000
- Revision:
- 0:f7fc09f9c7ce
- Child:
- 1:fb18b43590e6
Had to change workspaces
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Showboo | 0:f7fc09f9c7ce | 1 | #include "mbed.h" |
Showboo | 0:f7fc09f9c7ce | 2 | #include "QEI.h" |
Showboo | 0:f7fc09f9c7ce | 3 | #include "header.h" |
Showboo | 0:f7fc09f9c7ce | 4 | |
Showboo | 0:f7fc09f9c7ce | 5 | inline void pulse_ir(int in){ |
Showboo | 0:f7fc09f9c7ce | 6 | LeftIR = in; |
Showboo | 0:f7fc09f9c7ce | 7 | FrontLeftIR = in; |
Showboo | 0:f7fc09f9c7ce | 8 | FrontRightIR = in; |
Showboo | 0:f7fc09f9c7ce | 9 | RightIR = in; |
Showboo | 0:f7fc09f9c7ce | 10 | } |
Showboo | 0:f7fc09f9c7ce | 11 | |
Showboo | 0:f7fc09f9c7ce | 12 | int main() { |
Showboo | 0:f7fc09f9c7ce | 13 | pid lman, rman; |
Showboo | 0:f7fc09f9c7ce | 14 | lman.kp = .004f; |
Showboo | 0:f7fc09f9c7ce | 15 | lman.ki = .0f; |
Showboo | 0:f7fc09f9c7ce | 16 | lman.kd = .0f; |
Showboo | 0:f7fc09f9c7ce | 17 | rman.kp = .5f; |
Showboo | 0:f7fc09f9c7ce | 18 | rman.ki = .1f; |
Showboo | 0:f7fc09f9c7ce | 19 | rman.kd = .4f; |
Showboo | 0:f7fc09f9c7ce | 20 | |
Showboo | 0:f7fc09f9c7ce | 21 | lpwmf.period(0.01f); |
Showboo | 0:f7fc09f9c7ce | 22 | lpwmf = 0; //Previously started on, replace with lpwmf = lbase to make it start on (not a good idea) |
Showboo | 0:f7fc09f9c7ce | 23 | rpwmf.period(0.01f); |
Showboo | 0:f7fc09f9c7ce | 24 | rpwmf = 0; |
Showboo | 0:f7fc09f9c7ce | 25 | pid ir_lman, ir_rman; |
Showboo | 0:f7fc09f9c7ce | 26 | ir_lman.kp = .004f; |
Showboo | 0:f7fc09f9c7ce | 27 | ir_lman.ki = .0f; |
Showboo | 0:f7fc09f9c7ce | 28 | ir_lman.kd = .0f; |
Showboo | 0:f7fc09f9c7ce | 29 | ir_rman.kp = .5f; |
Showboo | 0:f7fc09f9c7ce | 30 | ir_rman.ki = .1f; |
Showboo | 0:f7fc09f9c7ce | 31 | ir_rman.kd = .4f; |
Showboo | 0:f7fc09f9c7ce | 32 | t_time.start(); |
Showboo | 0:f7fc09f9c7ce | 33 | while(1){ |
Showboo | 0:f7fc09f9c7ce | 34 | float dt = t_time.read(); |
Showboo | 0:f7fc09f9c7ce | 35 | float lspeed; float rspeed; |
Showboo | 0:f7fc09f9c7ce | 36 | pulse_ir(1); |
Showboo | 0:f7fc09f9c7ce | 37 | ProcessIR(dt, ir_lman, lspeed, rspeed); |
Showboo | 0:f7fc09f9c7ce | 38 | lpwmb = 0; rpwmb = 0; |
Showboo | 0:f7fc09f9c7ce | 39 | //lpwmf = lspeed; rpwmf = rspeed; |
Showboo | 0:f7fc09f9c7ce | 40 | pulse_ir(0); |
Showboo | 0:f7fc09f9c7ce | 41 | t_time.reset(); |
Showboo | 0:f7fc09f9c7ce | 42 | } |
Showboo | 0:f7fc09f9c7ce | 43 | } |