h
Dependencies: Motor QEI Servo mbed
Diff: turret.cpp
- Revision:
- 0:f8f608a6114a
diff -r 000000000000 -r f8f608a6114a turret.cpp --- /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); + } + + +