MHD Yamen Saraiji / Mbed 2 deprecated GGHandController

GGController

Dependencies:   BufferedSerial DRV8833 mbed

Fork of HelloWorld by Simon Ford

main.cpp@2:375e29585498, 2015-10-20 (annotated)

Committer:
mrayy
Date:
Tue Oct 20 08:35:55 2015 +0000
Revision:
2:375e29585498
Parent:
0:fb6bbc10ffa0 
First Commit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
simon 0:fb6bbc10ffa0 1 #include "mbed.h"
mrayy 2:375e29585498 2 #include "DRV8833.h"
mrayy 2:375e29585498 3 #include "BufferedSerial.h"
mrayy 2:375e29585498 4
simon 0:fb6bbc10ffa0 5
mrayy 2:375e29585498 6 DigitalOut led1(LED1);
mrayy 2:375e29585498 7 DigitalOut led2(LED2);
mrayy 2:375e29585498 8 DigitalOut led3(LED3);
mrayy 2:375e29585498 9 DigitalOut led4(LED4);
mrayy 2:375e29585498 10
mrayy 2:375e29585498 11 Serial pc(USBTX, USBRX);
simon 0:fb6bbc10ffa0 12
mrayy 2:375e29585498 13 int err;
mrayy 2:375e29585498 14 DRV8833 motor1(p21,p22);
mrayy 2:375e29585498 15 DRV8833 motor2(p23,p24);
mrayy 2:375e29585498 16 DRV8833 motor3(p25,p26);
mrayy 2:375e29585498 17
simon 0:fb6bbc10ffa0 18 int main() {
mrayy 2:375e29585498 19 pc.baud(115200);
mrayy 2:375e29585498 20 motor1.period(0.0000035f);
mrayy 2:375e29585498 21 motor2.period(0.0000035f);
mrayy 2:375e29585498 22 motor3.period(0.0000035f);
mrayy 2:375e29585498 23 float s1,s2,s3;
mrayy 2:375e29585498 24 while (1) {
mrayy 2:375e29585498 25 if(pc.readable())
mrayy 2:375e29585498 26 {
mrayy 2:375e29585498 27 char c;
mrayy 2:375e29585498 28 err=pc.scanf("%c",&c);
mrayy 2:375e29585498 29 if(c=='t')
mrayy 2:375e29585498 30 {
mrayy 2:375e29585498 31 pc.printf("r\n");
mrayy 2:375e29585498 32 led2 = 1;
mrayy 2:375e29585498 33 wait(0.1);
mrayy 2:375e29585498 34 led2=0;
mrayy 2:375e29585498 35 }else if(c=='d')
mrayy 2:375e29585498 36 {
mrayy 2:375e29585498 37 // printf("reading bytes\n");
mrayy 2:375e29585498 38 int m1,m2,m3;
mrayy 2:375e29585498 39 err=pc.scanf("%d %d %d",&m1,&m2,&m3);
mrayy 2:375e29585498 40 s1=(float)(m1)/(float)1000.0f;
mrayy 2:375e29585498 41 s2=(float)(m2)/(float)1000.0f;
mrayy 2:375e29585498 42 s3=(float)(m3)/(float)1000.0f;
mrayy 2:375e29585498 43
mrayy 2:375e29585498 44 motor1.speed(s1);
mrayy 2:375e29585498 45 motor2.speed(s2);
mrayy 2:375e29585498 46 motor3.speed(s3);
mrayy 2:375e29585498 47
mrayy 2:375e29585498 48 // printf("%f,%f,%f\n",s1,s2,s3);
mrayy 2:375e29585498 49 }
mrayy 2:375e29585498 50 // led1 = !led1;
mrayy 2:375e29585498 51 }
simon 0:fb6bbc10ffa0 52 }
mrayy 2:375e29585498 53 }