Rauno U
/
Miisu
Six crescent shaped legs
main.cpp@2:cf0147952fb9, 2016-03-29 (annotated)
- Committer:
- sim642
- Date:
- Tue Mar 29 12:03:14 2016 +0000
- Revision:
- 2:cf0147952fb9
- Parent:
- 1:8b0322a353f4
- Child:
- 3:2235787e78c4
Create classes for motor, encoder and PID
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
phairero | 0:0b7259fdb68a | 1 | #include "mbed.h" |
sim642 | 2:cf0147952fb9 | 2 | #include "Motor.hpp" |
sim642 | 2:cf0147952fb9 | 3 | #include "Encoder.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 | Motor m(PB_0, PC_0, PC_1); |
sim642 | 2:cf0147952fb9 | 9 | Encoder e(PA_0, PA_1); |
phairero | 0:0b7259fdb68a | 10 | |
sim642 | 2:cf0147952fb9 | 11 | void rise() |
sim642 | 2:cf0147952fb9 | 12 | { |
sim642 | 2:cf0147952fb9 | 13 | pc.printf("rise\n"); |
sim642 | 2:cf0147952fb9 | 14 | m.drive(0.1f); |
sim642 | 2:cf0147952fb9 | 15 | } |
phairero | 0:0b7259fdb68a | 16 | |
sim642 | 2:cf0147952fb9 | 17 | void fall() |
sim642 | 2:cf0147952fb9 | 18 | { |
sim642 | 2:cf0147952fb9 | 19 | pc.printf("fall\n"); |
sim642 | 2:cf0147952fb9 | 20 | m.drive(-0.1f); |
sim642 | 2:cf0147952fb9 | 21 | } |
phairero | 1:8b0322a353f4 | 22 | |
sim642 | 2:cf0147952fb9 | 23 | int main() |
sim642 | 2:cf0147952fb9 | 24 | { |
sim642 | 2:cf0147952fb9 | 25 | bt.rise(rise); |
sim642 | 2:cf0147952fb9 | 26 | bt.fall(fall); |
sim642 | 2:cf0147952fb9 | 27 | while(1) |
sim642 | 2:cf0147952fb9 | 28 | { |
sim642 | 2:cf0147952fb9 | 29 | pc.printf("%d\n", e.getCount()); |
sim642 | 2:cf0147952fb9 | 30 | wait(0.5); |
phairero | 0:0b7259fdb68a | 31 | } |
sim642 | 2:cf0147952fb9 | 32 | } |