Diff: main.cpp

Revision:

0:19db2de32450

Child:

1:38c836c4bc0f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 09 03:36:06 2016 +0000
@@ -0,0 +1,59 @@
+#include "mbed.h"                                         //includes a library of basic c commands
+#include "Motor.h"
+
+Serial pc(USBTX,USBRX);                                 //enables Serial connection between the mbed and teraterm
+AnalogIn dale(p18);                                     //declares input
+Motor RickyBobby(p25,p27,p28);                          //declares output to motor
+
+int go,cnt,pwm;                                         //These two variables are integers
+float number,counter,x,mesHeight,desHeight,err;
+int main()
+{
+    pc.baud(115200);                                    //sets baud rate
+
+    while(1) {                                          //Infinite loop
+        cnt=0;
+        number=60;
+
+        //these two lines communicate from the mbed to the teraterm window to collect
+        //desired values
+
+        pc.printf("Enter one to start, along with the desired height.\r\n");
+        pc.scanf("%d,%f",&go,&desHeight);
+
+        while(go==1) {                                  //after the loop has been initialized
+
+            while(cnt<number)                           //this while loop reads the data from the sensor that corresponds to dale
+                //and then prints each iteration into the teraterm window
+            {
+                x=dale.read();
+                mesHeight = ((267.3918*x*x*x) + (-431.3231*x*x) + 236.6525*x + -22.2608);
+                err = desHeight-mesHeight;
+                //pc.printf("mesHeight = %f\r\n", mesHeight);
+
+                if (err > 0) {
+                    RickyBobby.speed(1);
+                    pwm = 1;
+                    wait(.05);
+                } 
+                else if (err < 0) {
+                    RickyBobby.speed(-1);
+                    pwm = -1;
+                    wait(.05);
+                }
+
+                else {
+                    RickyBobby.speed(0);
+                    pwm = 0;
+                }
+
+                cnt=cnt+1;
+                wait(.05);
+                pc.printf("%d,%f,%d\r\n",cnt,mesHeight,pwm);
+                
+            }
+            RickyBobby.speed(0);
+            go = 0;
+        }
+    }
+}
\ No newline at end of file