mag niet van hendrik D:
Dependencies: mbed MatrixMath QEI HIDScope Matrix biquadFilter MODSERIAL FastPWM
main.cpp@13:6c9e9d2cf9cd, 2019-09-20 (annotated)
- Committer:
- Hendrikvg
- Date:
- Fri Sep 20 12:52:00 2019 +0000
- Revision:
- 13:6c9e9d2cf9cd
- Parent:
- 12:6aabdca32aee
L3: Assignment 3
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Hendrikvg | 13:6c9e9d2cf9cd | 1 | #include "QEI.h" |
Hendrikvg | 9:12b9865e7373 | 2 | #include "mbed.h" |
Hendrikvg | 10:3a3d6373b41c | 3 | #include "HIDScope.h" |
Hendrikvg | 13:6c9e9d2cf9cd | 4 | #include "MODSERIAL.h" |
Hendrikvg | 9:12b9865e7373 | 5 | |
Hendrikvg | 9:12b9865e7373 | 6 | Serial pc(USBTX,USBRX); |
Hendrikvg | 13:6c9e9d2cf9cd | 7 | HIDScope scope(2); |
Hendrikvg | 13:6c9e9d2cf9cd | 8 | QEI encoder(D12,D13,NC,64,QEI::X4_ENCODING); |
Hendrikvg | 13:6c9e9d2cf9cd | 9 | Ticker RW_scope; |
Hendrikvg | 13:6c9e9d2cf9cd | 10 | DigitalOut direction_m1(D4); |
Hendrikvg | 13:6c9e9d2cf9cd | 11 | DigitalOut speed_m1(D5); |
RobertoO | 0:67c50348f842 | 12 | |
Hendrikvg | 13:6c9e9d2cf9cd | 13 | int degrees; |
Hendrikvg | 10:3a3d6373b41c | 14 | volatile float x; |
Hendrikvg | 13:6c9e9d2cf9cd | 15 | volatile float x_prev=0; |
Hendrikvg | 10:3a3d6373b41c | 16 | volatile float y; |
Hendrikvg | 10:3a3d6373b41c | 17 | |
Hendrikvg | 13:6c9e9d2cf9cd | 18 | void ReadEncoderAndWriteScope() |
Hendrikvg | 10:3a3d6373b41c | 19 | { |
Hendrikvg | 13:6c9e9d2cf9cd | 20 | degrees = 5.625*encoder.getPulses(); |
Hendrikvg | 13:6c9e9d2cf9cd | 21 | x = degrees; |
Hendrikvg | 13:6c9e9d2cf9cd | 22 | scope.set(0,x); |
Hendrikvg | 13:6c9e9d2cf9cd | 23 | y = (x_prev + x)/2.0; |
Hendrikvg | 13:6c9e9d2cf9cd | 24 | scope.set(1,y); |
Hendrikvg | 13:6c9e9d2cf9cd | 25 | x_prev=x; |
Hendrikvg | 13:6c9e9d2cf9cd | 26 | scope.send(); |
Hendrikvg | 10:3a3d6373b41c | 27 | } |
Hendrikvg | 7:d307e31f7391 | 28 | |
Hendrikvg | 9:12b9865e7373 | 29 | int main() { |
RobertoO | 0:67c50348f842 | 30 | pc.baud(115200); |
Hendrikvg | 13:6c9e9d2cf9cd | 31 | pc.printf("Hello World!\n\r"); |
Hendrikvg | 13:6c9e9d2cf9cd | 32 | RW_scope.attach(&ReadEncoderAndWriteScope, 0.1); |
Hendrikvg | 12:6aabdca32aee | 33 | while(true) |
Hendrikvg | 13:6c9e9d2cf9cd | 34 | { |
Hendrikvg | 13:6c9e9d2cf9cd | 35 | |
Hendrikvg | 9:12b9865e7373 | 36 | } |
Hendrikvg | 2:d9b0ebf3fcca | 37 | } |