Diff: turret.cpp

Revision:

0:f8f608a6114a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turret.cpp	Thu Mar 10 16:18:01 2016 +0000
@@ -0,0 +1,58 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "Motor.h"
+#include "QEI.h"
+#define pi (3.14159265)
+#define logfreq (100)
+#define data_pts (500)
+Serial pc(USBTX, USBRX);
+Motor m(p25, p23, p27);
+
+QEI enc(p16,p17,NC,3200);
+
+
+
+float motspeed;
+float x;
+float rad;
+int count;
+
+int main()
+{
+   enc.reset();
+   printf("enter a angle\r\n");
+    scanf("%f", &x);
+
+   
+    
+   while(1){
+        m.speed(0.25);
+   wait(1/logfreq);
+   
+   count = enc.getPulses() ;
+   rad = count*((2*pi)/1600) ;
+   if (rad<x){
+   m.speed(0);}
+   printf("The pulses are: %f\n\r", rad);}
+   
+    
+    //0.2 for forward torque
+    //-0.5 for backward
+    
+
+        //for (servopos=0; servopos<=1.0; servopos+=0.1){
+        //for (motspeed= 0.2; motspeed <= 1.0; motspeed += 0.1) {
+            //myservo1 = servopos;
+            //myservo2 = 1.0 - servopos;
+            //printf("Servo 1 position %.2f  Servo 2 position %.3f\n", servopos, (1-servopos));
+
+            //m.speed(motspeed);
+            //printf("motor speed is %.2f\n", motspeed);
+            //wait(0.0002);
+            //m.speed(-1.0);
+            //wait(0.002);
+            //m.speed(1.0);
+        }
+
+
+