QEI fork
Dependents: Nucleo_pwm_example MM_rat_Assignment4 MM_rat_Assignment4-newwest MicroMousewithFloodFill
Fork of QEI by
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
main_rev.cpp | Show diff for this revision Revisions of this file |
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(); - } -}