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Tuk workshop
Dependencies: mbed RC_Servo VMA306 PID CNY70 CMPS03 GP2A Pixy
main.cpp
- Committer:
- tuk4
- Date:
- 2019-10-24
- Revision:
- 9:4053b5217339
- Parent:
- 8:2d4887624f94
- Child:
- 10:6c3653c53eca
File content as of revision 9:4053b5217339:
#include "mbed.h" #include "CMPS03.h" #include "CNY70.h" #include "GP2A.h" #include "VMA306.h" #include "Pixy.h" #include "PID.h" #define PI 3.1415926535898 Serial pc (PA_2, PA_3, 115200); PID motor (TIM4, TIM3, PA_9, PA_8, PC_9, PC_8, PC_6, PC_5); CMPS03 boussole (PC_4); CNY70 ligneD (PC_3); CNY70 ligneG (PC_2); CNY70 exterior (PA_7); VMA306 ultraSon (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2); PIXY pixy (PA_0, PA_1, 115200); InterruptIn bp (PC_13); DigitalOut led1 (PA_5); DigitalOut led2 (PD_2); DigitalOut unused1 (PB_10); DigitalOut unused2 (PA_15); DigitalOut unused3 (PA_12); DigitalIn unused4 (PA_4, PullUp); DigitalIn unused5 (PB_0, PullUp); DigitalIn unused6 (PC_1, PullUp); DigitalIn unused7 (PC_0, PullUp); Timer temps; int main () { motor.resetPosition(); double x=0, y, theta = 0; while (1) { double speed_L = 50, speed_R = 50; while (x <= 200) { motor.setSpeed(speed_L,speed_R); motor.getPosition(&x, &y, &theta); pc.printf("\r x = %lf", x); } motor.setSpeed(0,0); } return 0; }