Ruprecht Altenburger
/
simple_program
Simple program for introduction of mirror actuator.
main.cpp@13:1bf960928a93, 2021-05-01 (annotated)
- Committer:
- altb2
- Date:
- Sat May 01 20:08:24 2021 +0000
- Revision:
- 13:1bf960928a93
- Parent:
- 11:d43f8b421d6d
first commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 0:a56e9c932891 | 1 | #include "mbed.h" |
altb2 | 0:a56e9c932891 | 2 | #include "LinearCharacteristics.h" |
altb2 | 5:768e10f6d372 | 3 | #include "ControllerLoop.h" |
altb2 | 6:9ebeffe446e4 | 4 | static BufferedSerial serial_port(USBTX, USBRX); |
altb2 | 13:1bf960928a93 | 5 | DigitalOut led(LED1); |
altb2 | 13:1bf960928a93 | 6 | // The controller Thread |
altb2 | 13:1bf960928a93 | 7 | float Ts = 0.2; |
altb2 | 13:1bf960928a93 | 8 | LinearCharacteristics gyro(0,1,-400,400); |
altb2 | 6:9ebeffe446e4 | 9 | |
altb2 | 10:bfacffec199a | 10 | ControllerLoop loop(Ts); // this is forthe main controller loop |
altb2 | 0:a56e9c932891 | 11 | //****************************************************************************** |
altb2 | 0:a56e9c932891 | 12 | //---------- main loop ------------- |
altb2 | 0:a56e9c932891 | 13 | //****************************************************************************** |
altb2 | 0:a56e9c932891 | 14 | int main() |
altb2 | 0:a56e9c932891 | 15 | { |
altb2 | 6:9ebeffe446e4 | 16 | serial_port.set_baud(115200); |
altb2 | 6:9ebeffe446e4 | 17 | serial_port.set_format( |
altb2 | 6:9ebeffe446e4 | 18 | /* bits */ 8, |
altb2 | 6:9ebeffe446e4 | 19 | /* parity */ BufferedSerial::None, |
altb2 | 6:9ebeffe446e4 | 20 | /* stop bit */ 1 |
altb2 | 6:9ebeffe446e4 | 21 | ); |
altb2 | 13:1bf960928a93 | 22 | printf("gyro ( 0.2) = %f\r\n",gyro(0.2)); |
altb2 | 6:9ebeffe446e4 | 23 | serial_port.set_blocking(false); // force to send whenever possible and data is there |
altb2 | 10:bfacffec199a | 24 | loop.start_loop(); |
altb2 | 13:1bf960928a93 | 25 | |
altb2 | 10:bfacffec199a | 26 | while(1) |
altb2 | 13:1bf960928a93 | 27 | { |
altb2 | 13:1bf960928a93 | 28 | ThisThread::sleep_for(1000); |
altb2 | 5:768e10f6d372 | 29 | } |
altb2 | 0:a56e9c932891 | 30 | } // END OF main |