Revision 0:682e46df9dde, committed 2016-03-30
- Comitter:
- TheDoctor822
- Date:
- Wed Mar 30 17:20:01 2016 +0000
- Commit message:
- Suh dude
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Mar 30 17:20:01 2016 +0000
@@ -0,0 +1,50 @@
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+AnalogIn pot1( p19 );
+PwmOut servo( p21 );
+I2C compass( p28, p27);
+Ticker tick100hz;
+Ticker tick5hz;
+
+const int compass_addr = 0x42;
+char cmd[3];
+char compass_raw[2];
+float pos = 0;
+float ctrlval = 0;
+float PWN_zero = .000061;
+
+
+void s100hz_task(void) {
+
+ compass.read (compass_addr, compass_raw, 2 );
+ pos = 0.1*((compass_raw[0]<<8) + compass_raw[1]) -90;
+ if (pos>180) {
+ pos = pos -360;
+
+ }
+ ctrlval = pot1.read() * .05;
+ servo = ctrlval;
+}
+
+void s5hz_task ( void ) {
+
+ pc.printf ( "Position: %f, Control Duty Cycle: %f\n", pos, ctrlval );
+}
+
+int main() {
+
+ cmd[0] = 0x47;
+ cmd[1] = 0x74;
+ cmd[2] = 0x72;
+
+ compass.write ( compass_addr, cmd, 3 );
+
+ tick100hz.attach ( &s100hz_task, .01 );
+ tick5hz.attach ( &s5hz_task, .2 );
+
+ while (1) {
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Mar 30 17:20:01 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/c0f6e94411f5 \ No newline at end of file