Rauno U
/
Miisu
Six crescent shaped legs
Diff: main.cpp
- Revision:
- 3:2235787e78c4
- Parent:
- 2:cf0147952fb9
- Child:
- 4:4d54794b99a5
--- a/main.cpp Tue Mar 29 12:03:14 2016 +0000 +++ b/main.cpp Tue Mar 29 12:54:12 2016 +0000 @@ -1,32 +1,36 @@ #include "mbed.h" -#include "Motor.hpp" -#include "Encoder.hpp" +#include "EncoderMotor.hpp" +#include "PIDController.hpp" InterruptIn bt(USER_BUTTON); Serial pc(USBTX, USBRX); -Motor m(PB_0, PC_0, PC_1); Encoder e(PA_0, PA_1); +PIDController ec(0.01f); +EncoderMotor m(PB_0, PC_0, PC_1, e, ec); void rise() { pc.printf("rise\n"); - m.drive(0.1f); + m.drive(0); } void fall() { pc.printf("fall\n"); - m.drive(-0.1f); + m.drive(-380); } int main() -{ - bt.rise(rise); - bt.fall(fall); +{ + bt.rise(&rise); + bt.fall(&fall); + + m.setup(); + while(1) { - pc.printf("%d\n", e.getCount()); - wait(0.5); + pc.printf("%d %d %f\n", e.getCount(), m.getSpeed(), m.out); + wait(0.1); } } \ No newline at end of file