Adam Sher
/
Single_Axis
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Revision 0:6044f996df91, committed 2015-04-16
- Comitter:
- frohst
- Date:
- Thu Apr 16 06:59:16 2015 +0000
- Commit message:
- initial;
Changed in this revision
diff -r 000000000000 -r 6044f996df91 AX12.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AX12.lib Thu Apr 16 06:59:16 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/chris/code/AX12/#ced71d1b2558
diff -r 000000000000 -r 6044f996df91 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Apr 16 06:59:16 2015 +0000
@@ -0,0 +1,37 @@
+#include "mbed.h"
+#include "AX12.h"
+#include <cmath>
+
+Timer time;
+AX12 dyna(1,2,1); //tx,rx,ID,Baud
+Serial comp(3,4); //tx,rx
+AnalogIn pot(A0); //pot pin
+
+int main()
+{
+ bool done=false;
+ float servoCmdTime=-1;
+ float degPerVolt=330/3.3;
+ comp.printf("Time(s),ServoPosition(deg),FlywheelError(deg)\n");
+
+ dyna.SetMode(0); //0-positional control. 1-velocity control
+ dyna.SetGoal(150,0);
+ float flyZero=pot.read()*degPerVolt;
+
+ time.start();
+ while(!done)
+ {
+
+ if(time.read()-servoCmdTime >= 0.001)
+ {
+ comp.printf("%.6f,%.2f,%.2f\n", time.read(), dyna.GetPosition(), pot.read()*degPerVolt-flyZero);
+ int goal=150+60*sin(2*pi()*time.read()*time.read()/10); //freq=time(s)/10
+ dyna.SetGoal(goal,1);
+ servoCmdTime=time.read();
+ if(time.read()/10 > 20)
+ {
+ done=true;
+ }
+ }
+ }
+}
diff -r 000000000000 -r 6044f996df91 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Apr 16 06:59:16 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/433970e64889 \ No newline at end of file