Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Master.cpp@38:922f2584bdfd, 2013-11-26 (annotated)

Committer:
calamaridudeman
Date:
Tue Nov 26 04:42:39 2013 +0000
Revision:
38:922f2584bdfd
Parent:
37:bf257a0154db
Child:
41:65de628f701f
motors now move!  Unknown cause, pwm freq is now being set just before every setting of duty cycle, not sure why this is needed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
calamaridudeman 23:112c0be5a7f3 1 #include "mbed.h"
calamaridudeman 37:bf257a0154db 2
calamaridudeman 37:bf257a0154db 3 #include "Master.hpp"
calamaridudeman 22:4d85d989af08 4
calamaridudeman 23:112c0be5a7f3 5 Serial pc(USBTX, USBRX);
calamaridudeman 23:112c0be5a7f3 6
calamaridudeman 37:bf257a0154db 7 QEI mEnc1(p25, p26, NC, 1200, QEI::X4_ENCODING); //hip
calamaridudeman 37:bf257a0154db 8 QEI mEnc2(p23, p24, NC, 1200, QEI::X4_ENCODING);//knee
calamaridudeman 37:bf257a0154db 9
calamaridudeman 38:922f2584bdfd 10 Motor m1(p15,p17,p18,p21,mEnc2);//hip p17 high is CCW
calamaridudeman 38:922f2584bdfd 11 Motor m2(p16,p19,p20,p22,mEnc1);//knee p19 high is CCW
calamaridudeman 25:8a34b8d6cc6e 12
calamaridudeman 38:922f2584bdfd 13 QEI bEnc1(p27, p28, p29, 500, QEI::X4_ENCODING); //track offset:-2.236814
calamaridudeman 38:922f2584bdfd 14 QEI bEnc2(p5, p6, p7, 500, QEI::X4_ENCODING); //body offset:1.770973
calamaridudeman 37:bf257a0154db 15
calamaridudeman 37:bf257a0154db 16 Kangaroo kankan(m1,m2,bEnc1,bEnc2);
calamaridudeman 37:bf257a0154db 17
calamaridudeman 38:922f2584bdfd 18 Ticker t;
calamaridudeman 38:922f2584bdfd 19
calamaridudeman 38:922f2584bdfd 20 AnalogIn aIn(p15);
calamaridudeman 38:922f2584bdfd 21 DigitalOut Forward(p17);
calamaridudeman 38:922f2584bdfd 22 DigitalOut Backward(p18);
calamaridudeman 38:922f2584bdfd 23 PwmOut pwmOut(p21);
calamaridudeman 38:922f2584bdfd 24
calamaridudeman 37:bf257a0154db 25 int main() {
calamaridudeman 23:112c0be5a7f3 26
calamaridudeman 38:922f2584bdfd 27 /*while(1){
calamaridudeman 38:922f2584bdfd 28 //kankan.testEncoders(pc);
calamaridudeman 38:922f2584bdfd 29 pc.printf("%f\n", kankan.getAngle());
calamaridudeman 37:bf257a0154db 30 wait(.25);
calamaridudeman 38:922f2584bdfd 31 }*/
calamaridudeman 38:922f2584bdfd 32
calamaridudeman 38:922f2584bdfd 33 m1.setPos(0.0);
calamaridudeman 38:922f2584bdfd 34 m1.start();
calamaridudeman 38:922f2584bdfd 35 //t.attach(&m1, &Motor::Control, .0005);
calamaridudeman 38:922f2584bdfd 36 wait(5);
calamaridudeman 38:922f2584bdfd 37 m1.setPos(3.1415/6);
calamaridudeman 38:922f2584bdfd 38 wait(5);
calamaridudeman 38:922f2584bdfd 39 m1.stop();
calamaridudeman 37:bf257a0154db 40
calamaridudeman 38:922f2584bdfd 41 /*Forward=1;
calamaridudeman 38:922f2584bdfd 42 Backward=0;
calamaridudeman 38:922f2584bdfd 43 pwmOut.period_us(500);
calamaridudeman 38:922f2584bdfd 44
calamaridudeman 38:922f2584bdfd 45
calamaridudeman 38:922f2584bdfd 46 pwmOut.write(.15);
calamaridudeman 38:922f2584bdfd 47
calamaridudeman 38:922f2584bdfd 48 wait(5);
calamaridudeman 38:922f2584bdfd 49 pwmOut.write(0);
calamaridudeman 38:922f2584bdfd 50
calamaridudeman 38:922f2584bdfd 51 */
calamaridudeman 37:bf257a0154db 52
calamaridudeman 37:bf257a0154db 53 //kankan.zero();
calamaridudeman 22:4d85d989af08 54 }