liang brain / Mbed 2 deprecated EX_encoder_PID_QianYuyangV3

nRF24L01, encoder, pca9685, pid

Dependencies:   mbed QEI-1 nRF24L01P xiugai

Diff: main.cpp

Revision:
4:652d2be11b35
Parent:
3:ee5e434e047e
Child:
6:7db9b13ece76
--- a/main.cpp	Wed Oct 16 13:59:33 2019 +0000
+++ b/main.cpp	Fri Oct 25 02:58:18 2019 +0000
@@ -18,11 +18,9 @@
 
 QEI qei_PA_0(PA_0,PA_1,NC,13,QEI::X4_ENCODING);
 Serial Serial_2(PA_2,PA_3);
-Ticker tick622103;
 PwmOut myServoPB_0(PB_0);
 PwmOut myServoPB_1(PB_1);
-
-
+Ticker tick561436;
 
 void PID_Caculation() {
 Error = 0 - Position;
@@ -60,7 +58,7 @@
 }
 }
 
-void tick622103_handle() {
+void tick561436_handle() {
 Position = Position + qei_PA_0.getPulses();
 qei_PA_0.reset();
 Serial_2.printf("%d\n",Position);
@@ -72,10 +70,12 @@
 int main() {
 Serial_2.baud(9600);
 
-tick622103.attach(&tick622103_handle,0.05);
-
+tick561436.attach(&tick561436_handle,0.05);
 Position = 0;
 qei_PA_0.reset();
+P = 1;
+I = 0;
+D = 10;
 while (true) {
 }