Rauno U
/
Miisu
Six crescent shaped legs
main.cpp@4:4d54794b99a5, 2016-03-29 (annotated)
- Committer:
- sim642
- Date:
- Tue Mar 29 14:33:57 2016 +0000
- Revision:
- 4:4d54794b99a5
- Parent:
- 3:2235787e78c4
- Child:
- 5:7f800f61cb13
Working encoder speed keep
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 | 3:2235787e78c4 | 3 | #include "PIDController.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 | 2:cf0147952fb9 | 8 | Encoder e(PA_0, PA_1); |
sim642 | 4:4d54794b99a5 | 9 | //PIDController ec(0.2, 0.1, 0.01); |
sim642 | 4:4d54794b99a5 | 10 | //PIDController ec(0.3, 2.0, 0.02); |
sim642 | 4:4d54794b99a5 | 11 | //PIDController ec(0.75, 2.0, 0.015); |
sim642 | 4:4d54794b99a5 | 12 | PIDController ec(0.8, 1.5, 0.017); |
sim642 | 4:4d54794b99a5 | 13 | EncoderMotor m(PB_0, PC_1, PC_0, e, ec); |
sim642 | 4:4d54794b99a5 | 14 | //Motor m(PB_0, PC_1, PC_0); |
phairero | 0:0b7259fdb68a | 15 | |
sim642 | 2:cf0147952fb9 | 16 | void rise() |
sim642 | 2:cf0147952fb9 | 17 | { |
sim642 | 2:cf0147952fb9 | 18 | pc.printf("rise\n"); |
sim642 | 3:2235787e78c4 | 19 | m.drive(0); |
sim642 | 2:cf0147952fb9 | 20 | } |
phairero | 0:0b7259fdb68a | 21 | |
sim642 | 2:cf0147952fb9 | 22 | void fall() |
sim642 | 2:cf0147952fb9 | 23 | { |
sim642 | 2:cf0147952fb9 | 24 | pc.printf("fall\n"); |
sim642 | 4:4d54794b99a5 | 25 | m.drive(0.5); |
sim642 | 2:cf0147952fb9 | 26 | } |
phairero | 1:8b0322a353f4 | 27 | |
sim642 | 2:cf0147952fb9 | 28 | int main() |
sim642 | 3:2235787e78c4 | 29 | { |
sim642 | 3:2235787e78c4 | 30 | bt.rise(&rise); |
sim642 | 3:2235787e78c4 | 31 | bt.fall(&fall); |
sim642 | 3:2235787e78c4 | 32 | |
sim642 | 3:2235787e78c4 | 33 | m.setup(); |
sim642 | 3:2235787e78c4 | 34 | |
sim642 | 2:cf0147952fb9 | 35 | while(1) |
sim642 | 2:cf0147952fb9 | 36 | { |
sim642 | 4:4d54794b99a5 | 37 | //pc.printf("%d %f %f\n", e.getCount(), m.speed, m.out); |
sim642 | 4:4d54794b99a5 | 38 | //wait(0.1); |
sim642 | 4:4d54794b99a5 | 39 | pc.scanf("%f %f %f", &ec.Kp, &ec.Ki, &ec.Kd); |
phairero | 0:0b7259fdb68a | 40 | } |
sim642 | 2:cf0147952fb9 | 41 | } |