Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

main.cpp@12:8de7f5d56fe4, 2016-04-12 (annotated)

Committer:
sim642
Date:
Tue Apr 12 13:12:49 2016 +0000
Revision:
12:8de7f5d56fe4
Parent:
11:a0976d3b33c5
Child:
13:dc5f5f19e4e8
Make EncoderMotor own its own speed smoother

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 3:2235787e78c4 3 #include "PIDController.hpp"
sim642 7:8dcdb39efc0e 4 #include "LerpSmoother.hpp"
phairero 0:0b7259fdb68a 5
phairero 0:0b7259fdb68a 6 InterruptIn bt(USER_BUTTON);
sim642 2:cf0147952fb9 7 Serial pc(USBTX, USBRX);
sim642 2:cf0147952fb9 8
sim642 9:31e850271c4a 9 MotorData mData = {PB_0, PC_1, PC_0};
sim642 8:c3af2a1c206c 10 EncoderData encData = {PA_0, PA_1, 600};
sim642 8:c3af2a1c206c 11
sim642 4:4d54794b99a5 12 //PIDController ec(0.2, 0.1, 0.01);
sim642 5:7f800f61cb13 13 PIDController ec(0.3, 2.0, 0.02);
sim642 4:4d54794b99a5 14 //PIDController ec(0.75, 2.0, 0.015);
sim642 5:7f800f61cb13 15 //PIDController ec(0.8, 1.5, 0.017);
sim642 5:7f800f61cb13 16 PIDController ecRot(5.0, 0.1, 0.04);
sim642 12:8de7f5d56fe4 17 EncoderMotor m(mData, encData, ec, ecRot);
sim642 4:4d54794b99a5 18 //Motor m(PB_0, PC_1, PC_0);
phairero 0:0b7259fdb68a 19
sim642 2:cf0147952fb9 20 void rise()
sim642 2:cf0147952fb9 21 {
sim642 2:cf0147952fb9 22 pc.printf("rise\n");
sim642 3:2235787e78c4 23 m.drive(0);
sim642 2:cf0147952fb9 24 }
phairero 0:0b7259fdb68a 25
sim642 2:cf0147952fb9 26 void fall()
sim642 2:cf0147952fb9 27 {
sim642 2:cf0147952fb9 28 pc.printf("fall\n");
sim642 4:4d54794b99a5 29 m.drive(0.5);
sim642 2:cf0147952fb9 30 }
phairero 1:8b0322a353f4 31
sim642 2:cf0147952fb9 32 int main()
sim642 3:2235787e78c4 33 {
sim642 3:2235787e78c4 34 bt.rise(&rise);
sim642 3:2235787e78c4 35 bt.fall(&fall);
sim642 3:2235787e78c4 36
sim642 8:c3af2a1c206c 37 //m.setup();
sim642 3:2235787e78c4 38
sim642 5:7f800f61cb13 39 float rot;
sim642 5:7f800f61cb13 40
sim642 2:cf0147952fb9 41 while(1)
sim642 2:cf0147952fb9 42 {
sim642 11:a0976d3b33c5 43 //pc.printf("%d\n", e.getCount());
sim642 8:c3af2a1c206c 44 wait(0.1);
sim642 5:7f800f61cb13 45 //pc.scanf("%f %f %f", &ec.Kp, &ec.Ki, &ec.Kd);
sim642 5:7f800f61cb13 46 //pc.scanf("%f %f %f %f", &ecRot.Kp, &ecRot.Ki, &ecRot.Kd, &rot);
sim642 8:c3af2a1c206c 47
sim642 8:c3af2a1c206c 48 //pc.scanf("%f", &rot);
sim642 8:c3af2a1c206c 49 //m.rotate(rot);
phairero 0:0b7259fdb68a 50 }
sim642 2:cf0147952fb9 51 }