Diff: main.cpp

Revision:

0:8030c143e37e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 18 11:09:46 2016 +0000
@@ -0,0 +1,52 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "MODSERIAL.h"
+
+
+MODSERIAL pc(USBTX, USBRX);
+DigitalOut motor1dir(D7);
+PwmOut motor1pwm(D6);
+
+void setmotor1(float val){
+    if (val>=0){
+        if (val > 1) {
+            val = 1.0f;
+        }
+        motor1dir.write(1);
+        motor1pwm.write(val);
+    }
+    else {
+        if (val < -1) {
+            val = -1.0f;
+        }
+        motor1dir.write(0);
+        motor1pwm.write(fabs(val));
+    }
+    printf("pwm: %.2f", fabs(val));
+}
+
+int main()
+{
+    float w = 0.05f;
+    
+    motor1pwm.period_us(1000);
+    pc.baud(115200);
+    while (true) {
+        for(float i=0;i<=1;i=i+0.1f){
+            printf("i: %.2f\n\r",i);
+            setmotor1(i);
+            wait(w);
+        }
+        for(float i=1;i>=-1;i=i-0.1f){
+            printf("i: %.2f\n\r",i);
+            setmotor1(i);
+            wait(w);
+        }
+        for(float i=-1;i<=0;i=i+0.1f){
+            printf("i: %.2f\n\r",i);
+            setmotor1(i);
+            wait(w);
+        }
+        
+    }
+}
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