Bayley Wang
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analoghalls
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main.cpp
00001 #include "mbed.h" 00002 00003 00004 #include "constants.h" 00005 #include "shared.h" 00006 #include "util.h" 00007 #include "math.h" 00008 #include "isr.h" 00009 00010 Serial pc(SERIAL_TX, SERIAL_RX); 00011 00012 PwmOut pha(_PH_A); 00013 PwmOut phb(_PH_B); 00014 PwmOut phc(_PH_C); 00015 00016 DigitalOut en(_EN); 00017 00018 DigitalIn dummy(D5); 00019 00020 AnalogIn throttle(_THROTTLE); 00021 AnalogIn analoga(_ANALOGA); 00022 AnalogIn analogb(_ANALOGB); 00023 00024 Motor* motor; 00025 00026 #ifdef __DEBUG 00027 float *fbuffer; 00028 int bufidx = 0; 00029 int skipidx = 0; 00030 #endif 00031 #ifdef __USE_THROTTLE 00032 Ticker dtc_upd_ticker; 00033 Ticker throttle_upd_ticker; 00034 #endif 00035 00036 float throttle_read; 00037 00038 int main() { 00039 #ifdef __DEBUG 00040 pc.printf("%s\n", "Debug mode ON"); 00041 #endif 00042 en = 1; 00043 #ifdef __DEBUG 00044 fbuffer = (float*)malloc(DBG_BUF_SZ*sizeof(float)); 00045 #endif 00046 initTimers(); 00047 initPins(); 00048 initData(); 00049 00050 while(1) { 00051 #ifdef __USE_THROTTLE 00052 throttle_read = throttle; 00053 #endif 00054 pos_update(); 00055 #ifndef __USE_THROTTLE 00056 dtc_update(); 00057 #endif 00058 #ifdef __DEBUG 00059 if (motor->debug_stop) break; 00060 #endif 00061 } 00062 #ifdef __DEBUG 00063 for (int i = 0; i < DBG_BUF_SZ; i++) { 00064 pc.printf("%f,", fbuffer[i]); 00065 } 00066 #endif 00067 }
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