Caleb Legis
h
Dependencies: Motor QEI Servo mbed
Revision 0:f8f608a6114a, committed 2016-03-10
- Comitter:
- caleblegis
- Date:
- Thu Mar 10 16:18:01 2016 +0000
- Commit message:
- updated
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Thu Mar 10 16:18:01 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Thu Mar 10 16:18:01 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Thu Mar 10 16:18:01 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ES309-Project-Team/code/Servo/#144da4a34b45
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Mar 10 16:18:01 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/552587b429a1 \ No newline at end of file
--- /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);
+ }
+
+
+