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Six crescent shaped legs
main.cpp@9:31e850271c4a, 2016-04-12 (annotated)
- Committer:
- sim642
- Date:
- Tue Apr 12 12:51:13 2016 +0000
- Revision:
- 9:31e850271c4a
- Parent:
- 8:c3af2a1c206c
- Child:
- 11:a0976d3b33c5
Factor motor data into struct
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
phairero | 0:0b7259fdb68a | 1 | #include "mbed.h" |
sim642 | 3:2235787e78c4 | 2 | #include "EncoderMotor.hpp" |
sim642 | 3:2235787e78c4 | 3 | #include "PIDController.hpp" |
sim642 | 7:8dcdb39efc0e | 4 | #include "LerpSmoother.hpp" |
phairero | 0:0b7259fdb68a | 5 | |
phairero | 0:0b7259fdb68a | 6 | InterruptIn bt(USER_BUTTON); |
sim642 | 2:cf0147952fb9 | 7 | Serial pc(USBTX, USBRX); |
sim642 | 2:cf0147952fb9 | 8 | |
sim642 | 9:31e850271c4a | 9 | MotorData mData = {PB_0, PC_1, PC_0}; |
sim642 | 8:c3af2a1c206c | 10 | EncoderData encData = {PA_0, PA_1, 600}; |
sim642 | 8:c3af2a1c206c | 11 | |
sim642 | 8:c3af2a1c206c | 12 | SpeedEncoder e(encData); |
sim642 | 7:8dcdb39efc0e | 13 | LerpSmoother speedSmoother(0.3f); |
sim642 | 4:4d54794b99a5 | 14 | //PIDController ec(0.2, 0.1, 0.01); |
sim642 | 5:7f800f61cb13 | 15 | PIDController ec(0.3, 2.0, 0.02); |
sim642 | 4:4d54794b99a5 | 16 | //PIDController ec(0.75, 2.0, 0.015); |
sim642 | 5:7f800f61cb13 | 17 | //PIDController ec(0.8, 1.5, 0.017); |
sim642 | 5:7f800f61cb13 | 18 | PIDController ecRot(5.0, 0.1, 0.04); |
sim642 | 9:31e850271c4a | 19 | EncoderMotor m(mData, e, speedSmoother, ec, ecRot); |
sim642 | 4:4d54794b99a5 | 20 | //Motor m(PB_0, PC_1, PC_0); |
phairero | 0:0b7259fdb68a | 21 | |
sim642 | 2:cf0147952fb9 | 22 | void rise() |
sim642 | 2:cf0147952fb9 | 23 | { |
sim642 | 2:cf0147952fb9 | 24 | pc.printf("rise\n"); |
sim642 | 3:2235787e78c4 | 25 | m.drive(0); |
sim642 | 2:cf0147952fb9 | 26 | } |
phairero | 0:0b7259fdb68a | 27 | |
sim642 | 2:cf0147952fb9 | 28 | void fall() |
sim642 | 2:cf0147952fb9 | 29 | { |
sim642 | 2:cf0147952fb9 | 30 | pc.printf("fall\n"); |
sim642 | 4:4d54794b99a5 | 31 | m.drive(0.5); |
sim642 | 2:cf0147952fb9 | 32 | } |
phairero | 1:8b0322a353f4 | 33 | |
sim642 | 2:cf0147952fb9 | 34 | int main() |
sim642 | 3:2235787e78c4 | 35 | { |
sim642 | 3:2235787e78c4 | 36 | bt.rise(&rise); |
sim642 | 3:2235787e78c4 | 37 | bt.fall(&fall); |
sim642 | 3:2235787e78c4 | 38 | |
sim642 | 8:c3af2a1c206c | 39 | //m.setup(); |
sim642 | 3:2235787e78c4 | 40 | |
sim642 | 5:7f800f61cb13 | 41 | float rot; |
sim642 | 5:7f800f61cb13 | 42 | |
sim642 | 2:cf0147952fb9 | 43 | while(1) |
sim642 | 2:cf0147952fb9 | 44 | { |
sim642 | 8:c3af2a1c206c | 45 | pc.printf("%d\n", e.getCount()); |
sim642 | 8:c3af2a1c206c | 46 | wait(0.1); |
sim642 | 5:7f800f61cb13 | 47 | //pc.scanf("%f %f %f", &ec.Kp, &ec.Ki, &ec.Kd); |
sim642 | 5:7f800f61cb13 | 48 | //pc.scanf("%f %f %f %f", &ecRot.Kp, &ecRot.Ki, &ecRot.Kd, &rot); |
sim642 | 8:c3af2a1c206c | 49 | |
sim642 | 8:c3af2a1c206c | 50 | //pc.scanf("%f", &rot); |
sim642 | 8:c3af2a1c206c | 51 | //m.rotate(rot); |
phairero | 0:0b7259fdb68a | 52 | } |
sim642 | 2:cf0147952fb9 | 53 | } |