Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

main.cpp@19:f21eb090a830, 2016-04-14 (annotated)

Committer:
sim642
Date:
Thu Apr 14 11:00:11 2016 +0000
Revision:
19:f21eb090a830
Parent:
13:dc5f5f19e4e8
Child:
22:bfc79c6ea2fd
Clean up main.cpp

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 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 19:f21eb090a830 8 PIDData speedPIDData = {0.3f, 2.0f, 0.02f};
sim642 19:f21eb090a830 9 PIDData turnPIDData = {5.0f, 0.1f, 0.04f};
sim642 19:f21eb090a830 10 SyncGroup sync;
sim642 19:f21eb090a830 11
sim642 9:31e850271c4a 12 MotorData mData = {PB_0, PC_1, PC_0};
sim642 8:c3af2a1c206c 13 EncoderData encData = {PA_0, PA_1, 600};
sim642 13:dc5f5f19e4e8 14
sim642 19:f21eb090a830 15 EncoderMotor m(mData, encData, speedPIDData, turnPIDData, &sync);
sim642 8:c3af2a1c206c 16
sim642 4:4d54794b99a5 17 //PIDController ec(0.2, 0.1, 0.01);
sim642 13:dc5f5f19e4e8 18 // PIDController ec(0.3, 2.0, 0.02);
sim642 4:4d54794b99a5 19 //PIDController ec(0.75, 2.0, 0.015);
sim642 5:7f800f61cb13 20 //PIDController ec(0.8, 1.5, 0.017);
sim642 13:dc5f5f19e4e8 21 // PIDController ecRot(5.0, 0.1, 0.04);
sim642 13:dc5f5f19e4e8 22 //EncoderMotor m(mData, encData, ec, ecRot);
sim642 4:4d54794b99a5 23 //Motor m(PB_0, PC_1, PC_0);
phairero 0:0b7259fdb68a 24
sim642 2:cf0147952fb9 25 void rise()
sim642 2:cf0147952fb9 26 {
sim642 2:cf0147952fb9 27 pc.printf("rise\n");
sim642 3:2235787e78c4 28 m.drive(0);
sim642 2:cf0147952fb9 29 }
phairero 0:0b7259fdb68a 30
sim642 2:cf0147952fb9 31 void fall()
sim642 2:cf0147952fb9 32 {
sim642 2:cf0147952fb9 33 pc.printf("fall\n");
sim642 4:4d54794b99a5 34 m.drive(0.5);
sim642 2:cf0147952fb9 35 }
phairero 1:8b0322a353f4 36
sim642 2:cf0147952fb9 37 int main()
sim642 3:2235787e78c4 38 {
sim642 3:2235787e78c4 39 bt.rise(&rise);
sim642 3:2235787e78c4 40 bt.fall(&fall);
sim642 3:2235787e78c4 41
sim642 19:f21eb090a830 42 m.setup();
sim642 5:7f800f61cb13 43
sim642 2:cf0147952fb9 44 while(1)
sim642 2:cf0147952fb9 45 {
sim642 8:c3af2a1c206c 46 wait(0.1);
phairero 0:0b7259fdb68a 47 }
sim642 2:cf0147952fb9 48 }