Evan Brown
/
MM_rat_Assignment4-newwest
p
Fork of MM_rat_Assignment4 by
Diff: main.cpp
- Revision:
- 0:f7fc09f9c7ce
- Child:
- 1:fb18b43590e6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Mon Nov 20 01:49:19 2017 +0000 @@ -0,0 +1,43 @@ +#include "mbed.h" +#include "QEI.h" +#include "header.h" + +inline void pulse_ir(int in){ + LeftIR = in; + FrontLeftIR = in; + FrontRightIR = in; + RightIR = in; +} + +int main() { + pid lman, rman; + lman.kp = .004f; + lman.ki = .0f; + lman.kd = .0f; + rman.kp = .5f; + rman.ki = .1f; + rman.kd = .4f; + + lpwmf.period(0.01f); + lpwmf = 0; //Previously started on, replace with lpwmf = lbase to make it start on (not a good idea) + rpwmf.period(0.01f); + rpwmf = 0; + pid ir_lman, ir_rman; + ir_lman.kp = .004f; + ir_lman.ki = .0f; + ir_lman.kd = .0f; + ir_rman.kp = .5f; + ir_rman.ki = .1f; + ir_rman.kd = .4f; + t_time.start(); + while(1){ + float dt = t_time.read(); + float lspeed; float rspeed; + pulse_ir(1); + ProcessIR(dt, ir_lman, lspeed, rspeed); + lpwmb = 0; rpwmb = 0; + //lpwmf = lspeed; rpwmf = rspeed; + pulse_ir(0); + t_time.reset(); + } +}