Simple program for introduction of mirror actuator.

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main.cpp

00001 #include "mbed.h"
00002 #include "LinearCharacteristics.h"
00003 #include "ControllerLoop.h"
00004 static BufferedSerial serial_port(USBTX, USBRX);
00005 DigitalOut led(LED1);
00006 // The controller Thread
00007 float Ts = 0.2;
00008 LinearCharacteristics gyro(0,1,-400,400);
00009 
00010 ControllerLoop loop(Ts);                        // this is forthe main controller loop
00011 //******************************************************************************
00012 //---------- main loop -------------
00013 //******************************************************************************
00014 int main()
00015 {
00016     serial_port.set_baud(115200);
00017     serial_port.set_format(
00018         /* bits */ 8,
00019         /* parity */ BufferedSerial::None,
00020         /* stop bit */ 1
00021     );
00022     printf("gyro ( 0.2) = %f\r\n",gyro(0.2));
00023     serial_port.set_blocking(false); // force to send whenever possible and data is there
00024     loop.start_loop();
00025   
00026     while(1)
00027         { 
00028         ThisThread::sleep_for(1000);
00029         }
00030 }   // END OF main