Ahmed Allibhoy / Mbed 2 deprecated MM_Competition

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   QEI mbed

main.cpp

Committer:
jasonliujc
Date:
2015-12-05
Revision:
11:8faa068940f1
Parent:
10:332a4ad5911d

File content as of revision 11:8faa068940f1:

#include "mbed.h"

#include "pid.h"

Ticker Systicker;


//////setting the errors for PID
ctrl obj;
    


float error2;



void systick(){ //rotations
    error2 = rotationError();
    obj.setKp(1);
    obj.setKi(0);
    obj.setKd(0);
    
    obj.updateErr(error2);
    
    pc.printf("error2: %f \n",error2);
    
    float corr = obj.total();
    
    
    
    leftMotor.addToPwm(corr);
    rightMotor.addToPwm(-corr);    
    
    
   // 
//    myled = 1; // LED is ON
//    wait(0.2); // 200 ms
//    myled = 0; // LED is OFF
//    wait(1.0); // 1 sec
    
    
    }





int main()
{
    
    rightMotor.setPwm(1.0);
    leftMotor.setPwm(1.0);
    
    Systicker.attach_us(&systick,1000);
    
    //loop();
   // pc.printf("test\n");
    
    
    return 0;
}

/// add something