Bayley Wang / Mbed 2 deprecated priustroller_3

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Dependencies:   mbed

Fork of priustroller_2 by N K

main.cpp@24:f1ff9c7256b5, 2015-03-09 (annotated)

Committer:
bwang
Date:
Mon Mar 09 11:33:14 2015 +0000
Revision:
24:f1ff9c7256b5
Parent:
11:dccbaa9274c5
Child:
25:0003b824dd7d
Added multi-channel debug logger in debug/, set up #channels and depth in main(), write in log() function. motor stops turning after trace is captured, requires reset to restart

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:54cf32d35f4d 1 #include "includes.h"
bwang 11:dccbaa9274c5 2 #include "transforms.h"
bwang 11:dccbaa9274c5 3 #include "filters.h"
bwang 11:dccbaa9274c5 4 #include "context.h"
bwang 1:1f58bdcf2956 5 #include "core.h"
bwang 1:1f58bdcf2956 6 #include "meta.h"
bwang 11:dccbaa9274c5 7 #include "sensors.h"
bwang 11:dccbaa9274c5 8 #include "callbacks.h"
nki 4:fdadf4a3577a 9
bwang 11:dccbaa9274c5 10 int main() {
bwang 11:dccbaa9274c5 11 Context *context = new Context();
bwang 11:dccbaa9274c5 12 context->ConfigureOutputs(D6, D13, D3, D8);
bwang 11:dccbaa9274c5 13 context->ConfigureCurrentSensors(A1, A2, 0.01, 0.95);
bwang 24:f1ff9c7256b5 14 context->ConfigurePidControllers(0.01f, 0.0f, 0.0f, 1.0f, -1.0f);
bwang 11:dccbaa9274c5 15 context->ConfigureThrottle(A0, 0.8f, 3.0f);
bwang 11:dccbaa9274c5 16 context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
bwang 24:f1ff9c7256b5 17 context->ConfigureReference(5.0f);
bwang 24:f1ff9c7256b5 18 context->ConfigureDebugger(2, 1000);
bwang 11:dccbaa9274c5 19 context->AttachCallBack(&fast, 5000);
bwang 11:dccbaa9274c5 20 context->AttachCallBack(&slow, 10);
bwang 11:dccbaa9274c5 21 context->AttachCallBack(&debug, 10);
bwang 24:f1ff9c7256b5 22 context->AttachCallBack(&log, 500);
bwang 11:dccbaa9274c5 23 context->Start();
bwang 0:54cf32d35f4d 24 }