Diff: main.cpp

Revision:

7:942fd77d5e19

Parent:

6:9ebeffe446e4

Child:

8:49ac75c42da0

--- a/main.cpp	Thu Apr 01 13:38:54 2021 +0000
+++ b/main.cpp	Thu Apr 15 05:36:55 2021 +0000
@@ -20,15 +20,15 @@
 static BufferedSerial serial_port(USBTX, USBRX);
 InterruptIn button(USER_BUTTON);        // User Button, short and long presses!
 bool key_was_pressed = false;
-float Ts=.0002f;                         // sampling time
+float Ts=.0005f;                         // sampling time
 void pressed(void);
 void released(void); 
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
+//DigitalOut led1(LED1);
+//DigitalOut led2(LED2);
 //------------- DEFINE FILTERS ----------------
 // missing
 //------------- Define In/Out -----------------
-//AnalogOut i_des1(PA_5);
+AnalogOut i_des1(PA_5);
 AnalogOut i_des2(PA_4);
 DigitalOut i_enable(PC_4);
 DigitalOut laser_on(PB_0);
@@ -51,7 +51,7 @@
 //------------------------------------------
 // ----- User defined functions -----------
 ControllerLoop loop(Ts);
-uart_comm_thread uart_com(&serial_port,.5f);
+uart_comm_thread uart_com(&serial_port,.1f);
 Ticker do_referencing;
 Timer glob_ti;
 path_1d p1;
@@ -59,7 +59,7 @@
 path_1d *current_path;
 float A = 2.7;
 float dc=0.0;
-Mirror_Kinematic mc;
+Mirror_Kinematic mk;
 DATA_Xchange data;
 
 //GPA myGPA(1, 2500, 100, 30, 20, Ts);
@@ -87,17 +87,15 @@
     counter1.reset();   // encoder reset
     counter2.reset();   // encoder reset
     i_enable = 0;
-    mc.set_offsets(2956,2343);
+    mk.set_offsets(0,0);
     glob_ti.start();
     glob_ti.reset();
     printf("Start Mirroractuator 1.0\r\n");
     loop.init_controllers();
     uart_com.start_uart();
     loop.start_loop();
-    //i_des1.write(i2u(0));
+    i_des1.write(i2u(0));
     i_des2.write(i2u(0));
-    led1 = 1;
-    led2 = 1;
    /* p1.initialize(300,10,A,0,0,0);
     p2.initialize(300,10,-A,0,0,A);
     laser_on = 0;