![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Six crescent shaped legs
main.cpp
- Committer:
- sim642
- Date:
- 2016-04-19
- Revision:
- 22:bfc79c6ea2fd
- Parent:
- 19:f21eb090a830
- Child:
- 23:d844cc906b66
File content as of revision 22:bfc79c6ea2fd:
#include "mbed.h" #include "EncoderMotor.hpp" #include "SyncGroup.hpp" InterruptIn bt(USER_BUTTON); Serial pc(USBTX, USBRX); PIDData speedPIDData = {0.3f, 2.0f, 0.02f}; PIDData turnPIDData = {5.0f, 0.1f, 0.04f}; SyncGroup sync; MotorData mData = {PB_0, PC_1, PC_0}; //EncoderData encData = {PA_0, PA_1, 100 * 64}; EncoderData encData = {PA_0, PA_1, 102.083 * 64}; EncoderMotor m(mData, encData, speedPIDData, turnPIDData, &sync); //PIDController ec(0.2, 0.1, 0.01); // PIDController ec(0.3, 2.0, 0.02); //PIDController ec(0.75, 2.0, 0.015); //PIDController ec(0.8, 1.5, 0.017); // PIDController ecRot(5.0, 0.1, 0.04); //EncoderMotor m(mData, encData, ec, ecRot); //Motor m(PB_0, PC_1, PC_0); void rise() { pc.printf("rise\n"); m.drive(0); } void fall() { pc.printf("fall\n"); m.drive(0.25); } int main() { bt.rise(&rise); bt.fall(&fall); m.setup(); float turn; while(1) { //scanf("%f", &turn); //m.rotate(turn, 0.5); printf("%ld %f\n", m.getEncoder().getCount(), m.getEncoder().getTurn()); wait(0.25); } }