Diff: main.cpp

Revision:

0:830ddddc129f

Child:

1:709be64ca63c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 09 09:46:38 2016 +0000
@@ -0,0 +1,44 @@
+#include "mbed.h"
+
+#include "RobotServo.h"
+#include "SensorFusion.h"
+#include "SPI_9dSensor.h"
+#include "RobotBicycleConst.h"
+
+AnalogIn analog_value(A5);//When using the ADC module, those pins connected to  AnalogIn can't be used to output.
+
+Ticker timer1;
+Ticker timer2;
+
+//Serial pc(D1, D0) declared in SPI_9dSensor.h
+
+float meas, L_inver;
+
+void timer1_interrupt(void);
+void timer2_interrupt(void);
+
+int main() {
+    setupServo();
+    
+    timer1.attach_us(&timer1_interrupt, 4000);//4.0ms interrupt period (250 Hz)
+    timer2.attach_us(&timer2_interrupt, 4098);//4.098ms interrupt period (244 Hz)
+    
+    pc.printf("\nAnalogIn example\r\n");
+    
+    while(1) {
+        pc.printf("measure: %f V,\t%f cm\r\n", meas, 1/L_inver);
+        wait(0.1); // 200 ms
+    }
+}
+
+void timer1_interrupt(void)
+{
+    meas = analog_value.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
+    meas = meas * 3.3f; // Change the value to be in the 0 to 3300 range
+    L_inver = 0.0063f * meas - 0.005769f;
+}
+
+void timer2_interrupt(void)
+{
+    ;
+}
\ No newline at end of file