Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

main.cpp@3:2235787e78c4, 2016-03-29 (annotated)

Committer:
sim642
Date:
Tue Mar 29 12:54:12 2016 +0000
Revision:
3:2235787e78c4
Parent:
2:cf0147952fb9
Child:
4:4d54794b99a5
First working EncoderMotor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
phairero 0:0b7259fdb68a 1 #include "mbed.h"
sim642 3:2235787e78c4 2 #include "EncoderMotor.hpp"
sim642 3:2235787e78c4 3 #include "PIDController.hpp"
phairero 0:0b7259fdb68a 4
phairero 0:0b7259fdb68a 5 InterruptIn bt(USER_BUTTON);
sim642 2:cf0147952fb9 6 Serial pc(USBTX, USBRX);
sim642 2:cf0147952fb9 7
sim642 2:cf0147952fb9 8 Encoder e(PA_0, PA_1);
sim642 3:2235787e78c4 9 PIDController ec(0.01f);
sim642 3:2235787e78c4 10 EncoderMotor m(PB_0, PC_0, PC_1, e, ec);
phairero 0:0b7259fdb68a 11
sim642 2:cf0147952fb9 12 void rise()
sim642 2:cf0147952fb9 13 {
sim642 2:cf0147952fb9 14 pc.printf("rise\n");
sim642 3:2235787e78c4 15 m.drive(0);
sim642 2:cf0147952fb9 16 }
phairero 0:0b7259fdb68a 17
sim642 2:cf0147952fb9 18 void fall()
sim642 2:cf0147952fb9 19 {
sim642 2:cf0147952fb9 20 pc.printf("fall\n");
sim642 3:2235787e78c4 21 m.drive(-380);
sim642 2:cf0147952fb9 22 }
phairero 1:8b0322a353f4 23
sim642 2:cf0147952fb9 24 int main()
sim642 3:2235787e78c4 25 {
sim642 3:2235787e78c4 26 bt.rise(&rise);
sim642 3:2235787e78c4 27 bt.fall(&fall);
sim642 3:2235787e78c4 28
sim642 3:2235787e78c4 29 m.setup();
sim642 3:2235787e78c4 30
sim642 2:cf0147952fb9 31 while(1)
sim642 2:cf0147952fb9 32 {
sim642 3:2235787e78c4 33 pc.printf("%d %d %f\n", e.getCount(), m.getSpeed(), m.out);
sim642 3:2235787e78c4 34 wait(0.1);
phairero 0:0b7259fdb68a 35 }
sim642 2:cf0147952fb9 36 }