Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

main.cpp@4:4d54794b99a5, 2016-03-29 (annotated)

Committer:
sim642
Date:
Tue Mar 29 14:33:57 2016 +0000
Revision:
4:4d54794b99a5
Parent:
3:2235787e78c4
Child:
5:7f800f61cb13
Working encoder speed keep

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 4:4d54794b99a5 9 //PIDController ec(0.2, 0.1, 0.01);
sim642 4:4d54794b99a5 10 //PIDController ec(0.3, 2.0, 0.02);
sim642 4:4d54794b99a5 11 //PIDController ec(0.75, 2.0, 0.015);
sim642 4:4d54794b99a5 12 PIDController ec(0.8, 1.5, 0.017);
sim642 4:4d54794b99a5 13 EncoderMotor m(PB_0, PC_1, PC_0, e, ec);
sim642 4:4d54794b99a5 14 //Motor m(PB_0, PC_1, PC_0);
phairero 0:0b7259fdb68a 15
sim642 2:cf0147952fb9 16 void rise()
sim642 2:cf0147952fb9 17 {
sim642 2:cf0147952fb9 18 pc.printf("rise\n");
sim642 3:2235787e78c4 19 m.drive(0);
sim642 2:cf0147952fb9 20 }
phairero 0:0b7259fdb68a 21
sim642 2:cf0147952fb9 22 void fall()
sim642 2:cf0147952fb9 23 {
sim642 2:cf0147952fb9 24 pc.printf("fall\n");
sim642 4:4d54794b99a5 25 m.drive(0.5);
sim642 2:cf0147952fb9 26 }
phairero 1:8b0322a353f4 27
sim642 2:cf0147952fb9 28 int main()
sim642 3:2235787e78c4 29 {
sim642 3:2235787e78c4 30 bt.rise(&rise);
sim642 3:2235787e78c4 31 bt.fall(&fall);
sim642 3:2235787e78c4 32
sim642 3:2235787e78c4 33 m.setup();
sim642 3:2235787e78c4 34
sim642 2:cf0147952fb9 35 while(1)
sim642 2:cf0147952fb9 36 {
sim642 4:4d54794b99a5 37 //pc.printf("%d %f %f\n", e.getCount(), m.speed, m.out);
sim642 4:4d54794b99a5 38 //wait(0.1);
sim642 4:4d54794b99a5 39 pc.scanf("%f %f %f", &ec.Kp, &ec.Ki, &ec.Kd);
phairero 0:0b7259fdb68a 40 }
sim642 2:cf0147952fb9 41 }