GGController
Dependencies: BufferedSerial DRV8833 mbed
Fork of HelloWorld by
main.cpp
00001 #include "mbed.h" 00002 #include "DRV8833.h" 00003 #include "BufferedSerial.h" 00004 00005 00006 DigitalOut led1(LED1); 00007 DigitalOut led2(LED2); 00008 DigitalOut led3(LED3); 00009 DigitalOut led4(LED4); 00010 00011 Serial pc(USBTX, USBRX); 00012 00013 int err; 00014 DRV8833 motor1(p21,p22); 00015 DRV8833 motor2(p23,p24); 00016 DRV8833 motor3(p25,p26); 00017 00018 int main() { 00019 pc.baud(115200); 00020 motor1.period(0.0000035f); 00021 motor2.period(0.0000035f); 00022 motor3.period(0.0000035f); 00023 float s1,s2,s3; 00024 while (1) { 00025 if(pc.readable()) 00026 { 00027 char c; 00028 err=pc.scanf("%c",&c); 00029 if(c=='t') 00030 { 00031 pc.printf("r\n"); 00032 led2 = 1; 00033 wait(0.1); 00034 led2=0; 00035 }else if(c=='d') 00036 { 00037 // printf("reading bytes\n"); 00038 int m1,m2,m3; 00039 err=pc.scanf("%d %d %d",&m1,&m2,&m3); 00040 s1=(float)(m1)/(float)1000.0f; 00041 s2=(float)(m2)/(float)1000.0f; 00042 s3=(float)(m3)/(float)1000.0f; 00043 00044 motor1.speed(s1); 00045 motor2.speed(s2); 00046 motor3.speed(s3); 00047 00048 // printf("%f,%f,%f\n",s1,s2,s3); 00049 } 00050 // led1 = !led1; 00051 } 00052 } 00053 }
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