Boyd Martherus / Mbed 2 deprecated Biorobotics_g15

br g5

Dependencies:   mbed QEI HIDScope Motor biquadFilter MODSERIAL FastPWM

main.cpp@8:b2e57b815f68, 2019-09-20 (annotated)

Committer:
boydmartherus
Date:
Fri Sep 20 10:16:14 2019 +0000
Revision:
8:b2e57b815f68
Parent:
6:c2608dedfd70 
merge_poging2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RobertoO 0:67c50348f842 1 #include "mbed.h"
Mortimerz 3:ea5f67f11825 2 #include "MODSERIAL.h";
Mortimerz 3:ea5f67f11825 3 #include "FastPWM.h" ;
MarliesWeggemans 4:3e9a8f5d9a1a 4 #include "QEI.h";
Mortimerz 3:ea5f67f11825 5
Mortimerz 3:ea5f67f11825 6 Serial pc(USBTX,USBRX);
boydmartherus 6:c2608dedfd70 7
boydmartherus 8:b2e57b815f68 8 // motor control
boydmartherus 8:b2e57b815f68 9 AnalogIn pot(PTB2);
boydmartherus 6:c2608dedfd70 10 FastPWM motor(D5);
MarliesWeggemans 4:3e9a8f5d9a1a 11
boydmartherus 6:c2608dedfd70 12 // Encoding
boydmartherus 6:c2608dedfd70 13 int pulses = 131;
MarliesWeggemans 5:9ebcbd39ec3f 14 QEI wheel (D13,D12,NC, pulses);
Mortimerz 3:ea5f67f11825 15
boydmartherus 6:c2608dedfd70 16
boydmartherus 8:b2e57b815f68 17 int main()
boydmartherus 8:b2e57b815f68 18 {
MarliesWeggemans 5:9ebcbd39ec3f 19 while(1){
MarliesWeggemans 5:9ebcbd39ec3f 20 wait(0.1);
boydmartherus 8:b2e57b815f68 21 printf("motor relative speed is (%f)\n\r",pot.read());
boydmartherus 8:b2e57b815f68 22 wait(0.1);
boydmartherus 8:b2e57b815f68 23 motor.write(pot);
MarliesWeggemans 5:9ebcbd39ec3f 24 }
boydmartherus 8:b2e57b815f68 25 while(true){
boydmartherus 8:b2e57b815f68 26 wait(0.1);
boydmartherus 8:b2e57b815f68 27 pc.printf("Pulses is: %i\n", wheel.getPulses());
boydmartherus 8:b2e57b815f68 28 wait(0.1);
boydmartherus 8:b2e57b815f68 29 }