Tim B
/
PWM_2_way_level-r1
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Dependencies: MMA8451Q_tb mbed
Revision 0:130528f1a724, committed 2014-06-09
- Comitter:
- tim_b
- Date:
- Mon Jun 09 18:10:10 2014 +0000
- Commit message:
- First pass servo leveling
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MMA8451Q_tb.lib Mon Jun 09 18:10:10 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/tim_b/code/MMA8451Q_tb/#34878ff9bbd7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jun 09 18:10:10 2014 +0000
@@ -0,0 +1,69 @@
+#include "mbed.h"
+#include "MMA8451Q_tb.h"
+#define MMA8451_I2C_ADDRESS (0x1d<<1)
+
+DigitalOut myled(LED_GREEN);
+PwmOut pwm1(PTD4);
+PwmOut pwm2(PTA12);
+Serial pc(USBTX, USBRX);
+MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
+
+float x,y,z, mag;
+float rstart1 = 0.028;
+float rend1 = 0.118;
+float rstart2 = 0.022;
+float rend2 = 0.114;
+
+float degx, range1, pwm_val, temp;
+float blah = 0.022;
+float scale1 = 0.002;
+
+int main() {
+ pc.baud(115200);
+ range1 = rend1 - rstart1;
+ pwm1 = 0.073;
+ pwm2 = 0.068;
+
+ while (true) {
+ wait(.001);
+
+ x = acc.getAccX();
+ y = acc.getAccY();
+ z = acc.getAccZ();
+ pc.printf("X: %4.6f, Y: %4.6f, Z: %4.6f \n", x, y, z);
+
+ /*
+ pwm1 = 0.073 + x*0.045;
+ pwm2 = 0.068 - y*0.046;
+
+ degx = asin(x)*180/3.1416;
+ temp = (degx+90)*0.0005 + 0.028;
+ pwm1 = temp;
+ pc.printf("degX: %4.6f, pwm1: %4.6f \n", degx, temp);
+ */
+
+ if (x > 0.1) {
+ pwm1 = pwm1 + scale1*abs(x);
+ }
+ if (x < -0.1) {
+ pwm1 = pwm1 - scale1*abs(x);
+ }
+
+ if (z > 0.1) {
+ pwm2 = pwm2 + scale1*abs(z);
+ }
+ if (z < -0.1) {
+ pwm2 = pwm2 - scale1*abs(z);
+ }
+ //myled = !myled;
+ }
+}
+ /*
+ blah = blah + 0.002;
+ if (blah > 0.2) {
+ blah = 0.08;
+ wait(1);
+ }
+ pwm1 = blah;
+ pc.printf("pwm1: %4.3f \n", blah);
+ */
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jun 09 18:10:10 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/0b3ab51c8877 \ No newline at end of file