Ryosuke Matsushima / Mbed 2 deprecated TUKUBAMotorDriver

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Dependencies:   mbed PID MotorDriver Encoder

main.cpp

Committer:
ryosukenanoda
Date:
2020-12-30
Revision:
0:45bca03e9dbf
Child:
1:3700098faa22

File content as of revision 0:45bca03e9dbf:

#include "mbed.h"
#include "MotorDriver.h"
#include "Encoder.h"
#include "PID.h"

Serial pc(USBTX, USBRX);

MotorDriver A(PC_9, PC_8);
Encoder E(PC_6, PC_5);
PID C(0.5, 0, 0);

int main() {
    pc.printf("Hello World!");
    C.set_target(4.0);
    A.set_duty(50);
    wait_ms(5000);
    while(1) {
        float raito = E.get_raito();
        pc.printf("\n \r raito: %f", raito);
        float input = C.get_input(raito);
        pc.printf("\t input: %f", input);
        if ( abs(input) > 100 ) {
            continue;
        }
        A.set_duty(input);
        wait_ms(10);
    }
    A.set_duty(0);
}