Sem Bertelink / Mbed 2 deprecated MOD09_Biorobotics_Groep_14lol

lololololol

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp

Committer:
Hendrikvg
Date:
2019-09-20
Revision:
13:6c9e9d2cf9cd
Parent:
12:6aabdca32aee

File content as of revision 13:6c9e9d2cf9cd:

#include "QEI.h"
#include "mbed.h"
#include "HIDScope.h"
#include "MODSERIAL.h"

Serial pc(USBTX,USBRX);
HIDScope scope(2);
QEI encoder(D12,D13,NC,64,QEI::X4_ENCODING);
Ticker RW_scope;
DigitalOut direction_m1(D4);
DigitalOut speed_m1(D5);

int degrees;
volatile float x;
volatile float x_prev=0;
volatile float y;

void ReadEncoderAndWriteScope()
{
    degrees = 5.625*encoder.getPulses();
    x = degrees;
    scope.set(0,x);
    y = (x_prev + x)/2.0;
    scope.set(1,y);
    x_prev=x;
    scope.send();
}

int main() {
    pc.baud(115200);
    pc.printf("Hello World!\n\r");
    RW_scope.attach(&ReadEncoderAndWriteScope, 0.1);    
    while(true)
    {
        
    }
}