Sem Bertelink / Mbed 2 deprecated MOD09_Biorobotics_Groep_14lol

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Dependencies:   mbed QEI HIDScope 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?

UserRevisionLine numberNew 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 }