Rauno U
/
Miisu
Six crescent shaped legs
main.cpp
- Committer:
- sim642
- Date:
- 2016-04-12
- Revision:
- 8:c3af2a1c206c
- Parent:
- 7:8dcdb39efc0e
- Child:
- 9:31e850271c4a
File content as of revision 8:c3af2a1c206c:
#include "mbed.h" #include "EncoderMotor.hpp" #include "PIDController.hpp" #include "LerpSmoother.hpp" InterruptIn bt(USER_BUTTON); Serial pc(USBTX, USBRX); EncoderData encData = {PA_0, PA_1, 600}; SpeedEncoder e(encData); LerpSmoother speedSmoother(0.3f); //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(PB_0, PC_1, PC_0, e, speedSmoother, 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(0.5); } int main() { bt.rise(&rise); bt.fall(&fall); //m.setup(); float rot; while(1) { pc.printf("%d\n", e.getCount()); wait(0.1); //pc.scanf("%f %f %f", &ec.Kp, &ec.Ki, &ec.Kd); //pc.scanf("%f %f %f %f", &ecRot.Kp, &ecRot.Ki, &ecRot.Kd, &rot); //pc.scanf("%f", &rot); //m.rotate(rot); } }