Ahmed Allibhoy / Mbed 2 deprecated MM_Competition

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Dependencies:   QEI mbed

main.cpp@11:8faa068940f1, 2015-12-05 (annotated)

Committer:
jasonliujc
Date:
Sat Dec 05 02:07:16 2015 +0000
Revision:
11:8faa068940f1
Parent:
10:332a4ad5911d 
parameters to be adjusted!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ahmedallibhoy 0:5b681ac34259 1 #include "mbed.h"
jasonliujc 8:1ce513eff545 2
jasonliujc 8:1ce513eff545 3 #include "pid.h"
jasonliujc 8:1ce513eff545 4
jasonliujc 8:1ce513eff545 5 Ticker Systicker;
jasonliujc 8:1ce513eff545 6
jasonliujc 8:1ce513eff545 7
jasonliujc 8:1ce513eff545 8 //////setting the errors for PID
jasonliujc 8:1ce513eff545 9 ctrl obj;
jasonliujc 8:1ce513eff545 10
jasonliujc 8:1ce513eff545 11
jasonliujc 8:1ce513eff545 12
jasonliujc 10:332a4ad5911d 13 float error2;
jasonliujc 8:1ce513eff545 14
jasonliujc 8:1ce513eff545 15
jasonliujc 8:1ce513eff545 16
jasonliujc 8:1ce513eff545 17 void systick(){ //rotations
jasonliujc 10:332a4ad5911d 18 error2 = rotationError();
jasonliujc 10:332a4ad5911d 19 obj.setKp(1);
jasonliujc 10:332a4ad5911d 20 obj.setKi(0);
jasonliujc 10:332a4ad5911d 21 obj.setKd(0);
jasonliujc 10:332a4ad5911d 22
jasonliujc 10:332a4ad5911d 23 obj.updateErr(error2);
jasonliujc 10:332a4ad5911d 24
jasonliujc 10:332a4ad5911d 25 pc.printf("error2: %f \n",error2);
jasonliujc 10:332a4ad5911d 26
jasonliujc 8:1ce513eff545 27 float corr = obj.total();
jasonliujc 10:332a4ad5911d 28
jasonliujc 10:332a4ad5911d 29
jasonliujc 10:332a4ad5911d 30
jasonliujc 8:1ce513eff545 31 leftMotor.addToPwm(corr);
jasonliujc 8:1ce513eff545 32 rightMotor.addToPwm(-corr);
jasonliujc 10:332a4ad5911d 33
jasonliujc 8:1ce513eff545 34
jasonliujc 10:332a4ad5911d 35 //
jasonliujc 10:332a4ad5911d 36 // myled = 1; // LED is ON
jasonliujc 10:332a4ad5911d 37 // wait(0.2); // 200 ms
jasonliujc 10:332a4ad5911d 38 // myled = 0; // LED is OFF
jasonliujc 10:332a4ad5911d 39 // wait(1.0); // 1 sec
jasonliujc 10:332a4ad5911d 40
jasonliujc 10:332a4ad5911d 41
jasonliujc 8:1ce513eff545 42 }
jasonliujc 8:1ce513eff545 43
ahmedallibhoy 0:5b681ac34259 44
jasonliujc 10:332a4ad5911d 45
jasonliujc 10:332a4ad5911d 46
jasonliujc 10:332a4ad5911d 47
ahmedallibhoy 0:5b681ac34259 48 int main()
ahmedallibhoy 0:5b681ac34259 49 {
jasonliujc 10:332a4ad5911d 50
jasonliujc 8:1ce513eff545 51 rightMotor.setPwm(1.0);
jasonliujc 8:1ce513eff545 52 leftMotor.setPwm(1.0);
jasonliujc 8:1ce513eff545 53
jasonliujc 10:332a4ad5911d 54 Systicker.attach_us(&systick,1000);
jasonliujc 10:332a4ad5911d 55
jasonliujc 10:332a4ad5911d 56 //loop();
jasonliujc 11:8faa068940f1 57 // pc.printf("test\n");
jasonliujc 8:1ce513eff545 58
jasonliujc 8:1ce513eff545 59
ahmedallibhoy 0:5b681ac34259 60 return 0;
ahmedallibhoy 0:5b681ac34259 61 }
jasonliujc 3:7ca21112a13d 62
jasonliujc 3:7ca21112a13d 63 /// add something