mit
Dependencies: Motor_Encoders mbed Motor_Driver
main.cpp@0:1fe09ed4f755, 2018-12-24 (annotated)
- Committer:
- coldplay
- Date:
- Mon Dec 24 03:49:20 2018 +0000
- Revision:
- 0:1fe09ed4f755
mit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
coldplay | 0:1fe09ed4f755 | 1 | #include "mbed.h" |
coldplay | 0:1fe09ed4f755 | 2 | #include "MotorDriver.h" |
coldplay | 0:1fe09ed4f755 | 3 | #include "math.h" |
coldplay | 0:1fe09ed4f755 | 4 | #include "Encoder.h" |
coldplay | 0:1fe09ed4f755 | 5 | |
coldplay | 0:1fe09ed4f755 | 6 | Serial PC(USBTX,USBRX); |
coldplay | 0:1fe09ed4f755 | 7 | #define USBRX p14 |
coldplay | 0:1fe09ed4f755 | 8 | #define USBTX p13 |
coldplay | 0:1fe09ed4f755 | 9 | |
coldplay | 0:1fe09ed4f755 | 10 | |
coldplay | 0:1fe09ed4f755 | 11 | Encoder encoder(p16,p17); |
coldplay | 0:1fe09ed4f755 | 12 | MotorDriver Motor(p21,p19,p20); // Connect to pins PWM, INA, INB |
coldplay | 0:1fe09ed4f755 | 13 | AnalogIn senseB(p18); //Connect to pin CS |
coldplay | 0:1fe09ed4f755 | 14 | |
coldplay | 0:1fe09ed4f755 | 15 | int main(){ |
coldplay | 0:1fe09ed4f755 | 16 | |
coldplay | 0:1fe09ed4f755 | 17 | PC.baud(115200); |
coldplay | 0:1fe09ed4f755 | 18 | Motor.setEnabled(true); |
coldplay | 0:1fe09ed4f755 | 19 | encoder.setEnabled(true); |
coldplay | 0:1fe09ed4f755 | 20 | int i = 0; |
coldplay | 0:1fe09ed4f755 | 21 | |
coldplay | 0:1fe09ed4f755 | 22 | while(1) |
coldplay | 0:1fe09ed4f755 | 23 | { |
coldplay | 0:1fe09ed4f755 | 24 | Motor.setSpeed(sin(i/180.0*3.1415)); |
coldplay | 0:1fe09ed4f755 | 25 | PC.printf("%.3f\n\r",senseB.read()); |
coldplay | 0:1fe09ed4f755 | 26 | |
coldplay | 0:1fe09ed4f755 | 27 | wait(5); |
coldplay | 0:1fe09ed4f755 | 28 | PC.printf("%d\n\r",encoder.get_position()); |
coldplay | 0:1fe09ed4f755 | 29 | |
coldplay | 0:1fe09ed4f755 | 30 | |
coldplay | 0:1fe09ed4f755 | 31 | wait(5); |
coldplay | 0:1fe09ed4f755 | 32 | } |
coldplay | 0:1fe09ed4f755 | 33 | } |