Rauno U
/
Miisu
Six crescent shaped legs
main.cpp@23:d844cc906b66, 2016-04-19 (annotated)
- Committer:
- sim642
- Date:
- Tue Apr 19 16:03:56 2016 +0000
- Revision:
- 23:d844cc906b66
- Parent:
- 22:bfc79c6ea2fd
- Child:
- 24:fb1827be6f7e
Encoder doesn't work in ticker
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 | 19:f21eb090a830 | 3 | #include "SyncGroup.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 | 23:d844cc906b66 | 8 | //PIDData speedPIDData = {0.3f, 2.0f, 0.02f}; |
sim642 | 23:d844cc906b66 | 9 | //PIDData turnPIDData = {5.0f, 0.1f, 0.04f}; |
sim642 | 23:d844cc906b66 | 10 | PIDData speedPIDData = {0.5f, 0.0f, 0.0f}; |
sim642 | 19:f21eb090a830 | 11 | PIDData turnPIDData = {5.0f, 0.1f, 0.04f}; |
sim642 | 19:f21eb090a830 | 12 | SyncGroup sync; |
sim642 | 19:f21eb090a830 | 13 | |
sim642 | 23:d844cc906b66 | 14 | MotorData mData = {PB_0, PC_0, PC_1}; |
sim642 | 22:bfc79c6ea2fd | 15 | //EncoderData encData = {PA_0, PA_1, 100 * 64}; |
sim642 | 23:d844cc906b66 | 16 | EncoderData encData = {PA_0, PA_1, 102.083 * 64}; // https://www.pololu.com/product/2826 |
sim642 | 13:dc5f5f19e4e8 | 17 | |
sim642 | 23:d844cc906b66 | 18 | EncoderMotor m(mData, encData, speedPIDData, turnPIDData, NULL); |
sim642 | 23:d844cc906b66 | 19 | |
sim642 | 23:d844cc906b66 | 20 | //SpeedEncoder s(encData); |
sim642 | 8:c3af2a1c206c | 21 | |
sim642 | 4:4d54794b99a5 | 22 | //PIDController ec(0.2, 0.1, 0.01); |
sim642 | 13:dc5f5f19e4e8 | 23 | // PIDController ec(0.3, 2.0, 0.02); |
sim642 | 4:4d54794b99a5 | 24 | //PIDController ec(0.75, 2.0, 0.015); |
sim642 | 5:7f800f61cb13 | 25 | //PIDController ec(0.8, 1.5, 0.017); |
sim642 | 13:dc5f5f19e4e8 | 26 | // PIDController ecRot(5.0, 0.1, 0.04); |
sim642 | 13:dc5f5f19e4e8 | 27 | //EncoderMotor m(mData, encData, ec, ecRot); |
sim642 | 4:4d54794b99a5 | 28 | //Motor m(PB_0, PC_1, PC_0); |
phairero | 0:0b7259fdb68a | 29 | |
sim642 | 2:cf0147952fb9 | 30 | void rise() |
sim642 | 2:cf0147952fb9 | 31 | { |
sim642 | 2:cf0147952fb9 | 32 | pc.printf("rise\n"); |
sim642 | 3:2235787e78c4 | 33 | m.drive(0); |
sim642 | 2:cf0147952fb9 | 34 | } |
phairero | 0:0b7259fdb68a | 35 | |
sim642 | 2:cf0147952fb9 | 36 | void fall() |
sim642 | 2:cf0147952fb9 | 37 | { |
sim642 | 2:cf0147952fb9 | 38 | pc.printf("fall\n"); |
sim642 | 22:bfc79c6ea2fd | 39 | m.drive(0.25); |
sim642 | 2:cf0147952fb9 | 40 | } |
phairero | 1:8b0322a353f4 | 41 | |
sim642 | 2:cf0147952fb9 | 42 | int main() |
sim642 | 3:2235787e78c4 | 43 | { |
sim642 | 3:2235787e78c4 | 44 | bt.rise(&rise); |
sim642 | 3:2235787e78c4 | 45 | bt.fall(&fall); |
sim642 | 3:2235787e78c4 | 46 | |
sim642 | 19:f21eb090a830 | 47 | m.setup(); |
sim642 | 5:7f800f61cb13 | 48 | |
sim642 | 23:d844cc906b66 | 49 | float speed; |
sim642 | 2:cf0147952fb9 | 50 | while(1) |
sim642 | 2:cf0147952fb9 | 51 | { |
sim642 | 22:bfc79c6ea2fd | 52 | //scanf("%f", &turn); |
sim642 | 23:d844cc906b66 | 53 | //m.rotate(turn, 0.2); |
sim642 | 23:d844cc906b66 | 54 | //scanf("%f", &speed); |
sim642 | 23:d844cc906b66 | 55 | //m.drive(speed); |
sim642 | 23:d844cc906b66 | 56 | //printf("%f %f\n", s.getTurnSpeed(), m.getSetSpeed()); |
sim642 | 23:d844cc906b66 | 57 | //printf("%f %f\n", m.s, m.getSetSpeed()); |
sim642 | 22:bfc79c6ea2fd | 58 | |
sim642 | 23:d844cc906b66 | 59 | //printf("%ld %f\n", m.getEncoder().getCount(), m.getEncoder().getTurn()); |
sim642 | 23:d844cc906b66 | 60 | m.tick(); |
sim642 | 23:d844cc906b66 | 61 | //printf("%f %f\n", m.getEncoder().getTurn(), m.getSetTurn()); |
sim642 | 23:d844cc906b66 | 62 | wait(1.f / 60); |
phairero | 0:0b7259fdb68a | 63 | } |
sim642 | 2:cf0147952fb9 | 64 | } |