Revision 2:08e7120349cd, committed 2017-11-20

Comitter:

Showboo

Date:

Mon Nov 20 01:49:06 2017 +0000

Parent:

1:5973c7401933

Commit message:

Local Commit please don't accept

Changed in this revision

diff -r 5973c7401933 -r 08e7120349cd main_rev.cpp
--- a/main_rev.cpp	Mon Nov 20 01:14:31 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,43 +0,0 @@
-#include "mbed.h"
-#include "QEI.h"
-#include "header.h"
-
-inline void pulse_ir(int in){
-        LeftIR = in;
-        FrontLeftIR = in;
-        FrontRightIR = in;
-        RightIR = in;
-}
-
-int main() {
-    pid lman, rman;
-    lman.kp = .004f;
-    lman.ki = .0f;
-    lman.kd = .0f;
-    rman.kp = .5f;
-    rman.ki = .1f;
-    rman.kd = .4f;
-    
-    lpwmf.period(0.01f);
-    lpwmf = 0; //Previously started on, replace with lpwmf = lbase to make it start on (not a good idea)
-    rpwmf.period(0.01f);
-    rpwmf = 0;
-    pid ir_lman, ir_rman;
-    ir_lman.kp = .004f;
-    ir_lman.ki = .0f;
-    ir_lman.kd = .0f;
-    ir_rman.kp = .5f;
-    ir_rman.ki = .1f;
-    ir_rman.kd = .4f;    
-    t_time.start();
-    while(1){       
-       float dt = t_time.read();
-       float lspeed, rspeed;
-       pulse_ir(1);
-       ProcessIR(dt, ir_lman, lspeed, rspeed);
-       lpwmb = 0; rpwmb = 0;
-       //lpwmf = lspeed; rpwmf = rspeed;
-       pulse_ir(0);
-       t_time.reset();
-    }
-}