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Dependencies: FastPWM HIDScope MODSERIAL QEI Matrix biquadFilter controller errorFetch mbed motorConfig refGen MatrixMath inverseKinematics
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Minor_test_serial
by 
First Last
Revision 9:5f0e796c9489, committed 2017-09-19
- Comitter:
- tvlogman
- Date:
- Tue Sep 19 15:25:42 2017 +0000
- Parent:
- 8:0067469c3389
- Child:
- 10:e23cbcdde7e3
- Commit message:
- Screwed it up nicely; Work in progress
Changed in this revision
| QEI.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Tue Sep 19 15:25:42 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
--- a/main.cpp Tue Sep 19 14:50:53 2017 +0000
+++ b/main.cpp Tue Sep 19 15:25:42 2017 +0000
@@ -1,11 +1,12 @@
#include "mbed.h"
#include "MODSERIAL.h"
#include "HIDScope.h"
+#include "QEI.h"
HIDScope scope(2);
Ticker AInTicker;
-AnalogIn aIn1(A0);
+AnalogIn button1(A4);
volatile float x;
volatile float x_prev =0;
@@ -14,7 +15,7 @@
void ReadAnalogInAndFilter()
{
- x = ledBrightness; // Capture data
+ x = button1; // Capture data
scope.set(0, x); // store data in first element of scope memory
y = (x_prev + x)/2.0; // averaging filter
scope.set(1, y); // store data in second element of scope memory
@@ -27,7 +28,7 @@
float pwmPeriod = 1.0/5000.0;
AnalogIn pot(A5);
-DigitalIn button1(D3);
+
DigitalIn button2(D6);
@@ -40,20 +41,15 @@
pc.baud(115200);
AInTicker.attach(&ReadAnalogInAndFilter, 0.01);
ledPwm.period(pwmPeriod);
+ pc.printf("Hello world");
+ int counts;
+
+ QEI Encoder(D12,D13,NC,32);
while (true) {
- if(!button1){
- if(ledBrightness >= 0.05){
- ledBrightness = ledBrightness - 0.05;
- }
- }
- if(!button2){
- if(ledBrightness <= 0.95){
- ledBrightness = ledBrightness + 0.05;
- }
- }
- ledPwm = ledBrightness;
- wait(0.1f);
+ counts = Encoder.getPulses();
+ pc.printf("Number of pulses is %i", counts);
+ wait(0.5);
}