Diff: main.cpp

Revision:

0:2762f6b27c5f

Child:

1:81190825251c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Jan 25 09:13:29 2020 +0000
@@ -0,0 +1,33 @@
+#include "mbed.h"
+#include "haseMD.h"
+#include "lpf.h"
+
+HaseMD md[4] = { HaseMD(PA_6),HaseMD(PA_7), HaseMD(PA_9),HaseMD(PB_10) };
+//DigitalIn DS[3] = { DigitalIn(PC_12), DigitalIn(PC_10), DigitalIn(PD_2) };
+Timer tim;
+Serial pc(USBTX,USBRX,115200);
+lpf mdlpf(1.0/300,0.005);
+//DigitalIn fallut(PB_6);
+//DigitalIn otw(PC_7);
+
+int main()
+{
+    tim.start();
+    double pwm = 0.0,put;
+    
+    while (true) {
+        
+        pwm = sin(tim/3.0);
+        for(int i=0; i < 4; i++)
+        {
+            md[i].setSpeed(pwm);
+            
+        }
+        mdlpf.path_value(pwm);
+//        pwm += ((pwm < 0.1) - (pwm > 0.9)) * 0.1;
+//        put = 0.5 + pwm / 2.0;
+        put = pwm * 0.9 / 2 + 0.5;
+        pc.printf("%f \n\r",put);
+    }
+}
+