Joao Luiz Almeida de Souza Ramos / Mbed 2 deprecated furutacontroller

a controller for a furuta pendulum

Dependencies:   QEI mbed-rtos mbed

Files at this revision

API Documentation at this revision

Revision 7:59613b7a1631, committed 2013-12-04

Comitter:
jaoramos
Date:
Wed Dec 04 01:49:01 2013 +0000
Parent:
6:16da0de99a8c
Child:
8:57c2b7c94ce8
Commit message:
working before adding moving average

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Dec 03 16:47:34 2013 +0000
+++ b/main.cpp	Wed Dec 04 01:49:01 2013 +0000
@@ -14,7 +14,7 @@
 #define BUFFER_SIZE 4200
 #define MAX_VOLTAGE 3.3
 #define VOLTS_PER_AMP 0.14
-
+#define PROGRAM_RUNTIME 15.0
 
 Serial pc(USBTX, USBRX);
 
@@ -55,7 +55,7 @@
 
 void saving(void const *args) {
     index = 0;
-    while ((index < BUFFER_SIZE)&&(flag == 1))  {
+    while ((index < BUFFER_SIZE)&&(flag == 1)&&(false))  {
         buffer[index] = theta1;
         buffer[index+1] = theta2;
         buffer[index+2] = dtheta1;
@@ -86,7 +86,7 @@
 void computing(void const *args) {
     float z1 = 0.0, z2 = 0.0, dz1 = 0.0, dz2 = 0.0, z3 = 0.0, dz3 = 0.0; 
     
-    while (true) {
+    while (true ) {
         t = T.read();
         
         //set pwm 
@@ -170,7 +170,7 @@
     
     pc.printf("Start!\r\n");
     pc.printf("Time: %f\r\n", t);
-    while (t < 10.0) 
+    while (t < PROGRAM_RUNTIME) 
     {
         //pc.printf("Time: %f\r\n", t);
         Thread::wait(1000);