Diff: main.cpp

Revision:

0:87a63b2d26ef

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 15 21:18:47 2016 +0000
@@ -0,0 +1,37 @@
+#include "mbed.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+PwmOut Clock(PTD4);
+PwmOut Output(////);
+AnalogIn Sensor(////);
+
+float adjustmentFactor = 1.0; //change so that sensor data is calibrated
+float ref = 3.0;
+float error = 0.0;
+float totalError = 0.0;
+int period = 1000;
+int PW = period/2;
+
+int outPeriod = period; //assume period always is the same
+int outPW;
+
+float Ki = 0; //adjust
+float Kp = 30; //adjust
+
+Ticker Controller;
+
+void Control(){
+     error = ref - Sensor.read()*adjustmentFactor;
+     totalError += error;
+     outPW = Kp*error + Ki*(totalError);
+     Output.period_us(outPeriod);
+     Output.pulsewidth_us(outPW);
+ }
+ 
+int main() {
+    Clock.period_us(period);
+    Clock.pulsewidth_us(PW);
+    Controller.attach_us(Control,period*128); //assumed that we should wait 128 clock cycles before activating controller
+                                              //because line camera requires 128 cycles. should verify
+
+}