2022 measuringWheel_v3
Dependencies: Eigen SerialMultiByte SoftPWM measuring_wheel
Diff: main.cpp
- Revision:
- 5:9332620c08c6
- Parent:
- 2:fd71ffefefe5
- Child:
- 6:f4a6cc918833
diff -r 12b6f6bab285 -r 9332620c08c6 main.cpp --- a/main.cpp Mon Aug 27 06:15:31 2018 +0000 +++ b/main.cpp Tue Dec 18 19:00:19 2018 +0900 @@ -1,21 +1,30 @@ #include "mbed.h" #include "measuring_wheel.h" -Serial pc(USBTX, USBRX,115200); -MeasuringWheel measuring(PA_8,PA_9,PA_6,PA_7,PA_0,PA_1); - -int main() -{ - measuring.wheelDiameter(48,48,48); - while(true) { - +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); - -// pc.printf("fsjflsz\r\n"); -// 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()); -// wait(0.1); +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); + } }