2022 measuringWheel_v3
Dependencies: Eigen SerialMultiByte SoftPWM measuring_wheel
main.cpp
- Committer:
- UCHITAKE
- Date:
- 2018-12-18
- Revision:
- 5:9332620c08c6
- Parent:
- 2:fd71ffefefe5
- Child:
- 6:f4a6cc918833
File content as of revision 5:9332620c08c6:
#include "mbed.h" #include "measuring_wheel.h" Serial pc(USBTX, USBRX, 115200); MeasuringWheel measuring(PA_9, PA_8, PA_0, PA_1, PB_7, PB_6); // MeasuringWheel measuring(PB_6,PB_7,PA_8,PA_9,PA_6,PA_7); int main() { measuring.wheelDiameter(48, 48, 48); while (true) { // pc.printf("%d,%d,\n",(int)measuring.getOutX(),(int)measuring.getOutY()); // pc.printf("w1 = %f, w2 = %f, w3 = // %f\r\n",measuring.getWheel1(),measuring.getWheel2(),measuring.getWheel3()); // pc.printf("yaw = %f\r\n",measuring.getjyroAngle()); /// Thread::wait(100); // measuring.debugLed[1]->write(!measuring.debugLed[1]->read()); if (abs((int)measuring.getjyroAngle()) % 6 > 3) { measuring.debugLed[1]->write(true); } else { measuring.debugLed[1]->write(false); } if (abs((int)measuring.getOutX()) % 6 > 3) { measuring.debugLed[2]->write(true); } else { measuring.debugLed[2]->write(false); } // kwait(fabs(measuring.getjyroAngle()) / 1.0); wait(0.1); } }