Elijah Stanger-Jones / Mbed OS Lab3_experiment_example

Modified experiment example for lab 3 of 2.74

Dependencies:   ExperimentServer MotorShield QEI_pmw

Diff: main.cpp

Revision:
20:4c172a0737c6
Parent:
19:d58bf34141e9
Child:
21:94aeb8abe04c
--- a/main.cpp	Sat Sep 26 00:17:32 2020 +0000
+++ b/main.cpp	Sat Sep 26 00:19:16 2020 +0000
@@ -24,7 +24,7 @@
 Serial pc(USBTX, USBRX);    // USB Serial Terminal
 ExperimentServer server;    // Object that lets us communicate with MATLAB
 Timer t;                    // Timer to measure elapsed time of experiment
-Ticker ControlLoop;
+Ticker ControlLoop;       //Ticker object created
 
 QEI encoderA(PE_9,PE_11, NC, 1200, QEI::X4_ENCODING);  // MOTOR A ENCODER (no index, 1200 counts/rev, Quadrature encoding)
 QEI encoderB(PA_5, PB_3, NC, 1200, QEI::X4_ENCODING);  // MOTOR B ENCODER (no index, 1200 counts/rev, Quadrature encoding)
@@ -91,7 +91,7 @@
             float D = input_params[7];
             period = input_params[8];
             
-            ControlLoop.attach(&current_control,period); //start current loop
+            ControlLoop.attach(&current_control,period); //start current loop using Ticker function
             
             // Setup experiment
             t.reset();