Jorik Burghardt / Mbed 2 deprecated template_biorobotics

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp

Committer:
s1932896
Date:
2019-10-03
Revision:
10:76dfdbdd20cd
Parent:
9:c9cff697f4ab
Child:
11:ea15cf0230cd

File content as of revision 10:76dfdbdd20cd:

#include "mbed.h"
//#include "HIDScope.h"
#include "QEI.h"
#include "MODSERIAL.h"
//#include "BiQuad.h"
#include "FastPWM.h"

DigitalOut motor1(D4);
PwmOut e1(D5);
PwmOut e2(D6);
DigitalOut motor2(D7); 

DigitalIn encoder1a(D12);
DigitalIn encoder1b(D13);
AnalogIn pot1(A1);
AnalogIn pot2(A2);

MODSERIAL pc(USBTX, USBRX);

int main()
{
  pc.baud(115200);
  pc.printf("\r\nStarting...\r\n\r\n");
QEI enc1(D12,D13,NC,64);
  motor1 = 1;
  while(true)
  {
    int value;
  for(value = 100 ; value <= 255; value+=5)
  {
    motor1.write(1);
    motor2.write(1);
    e1.write(value);   //PWM Speed Control
    e2.write(value);   //PWM Speed Control
    wait_ms(50);
    pc.printf("%i   ",enc1.getPulses());
    }
    
    wait_ms(500);
    }
    
}