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tau
Dependencies: HIDScope QEI mbed
Fork of Tau by
main.cpp
- Committer:
- vd
- Date:
- 2017-11-01
- Revision:
- 2:9c3713420e24
- Parent:
- 1:d2fe9abf5082
File content as of revision 2:9c3713420e24:
#include "mbed.h" #include "HIDScope.h" #include "QEI.h" #include "iostream" //Leds DigitalOut ledb(LED_BLUE); DigitalOut ledr(LED_RED); DigitalOut ledg(LED_GREEN); //Motor DigitalOut motor1DC(D7); PwmOut motor1PWM(D6); //Button DigitalIn button1(SW2); // HIDscope HIDScope scope(1); // Encoder //Ticker tick; float F = 0.02; float X = 32; float N = 131; float pulse_count; float angle_motor; QEI Encoder(A0,A1,NC,N); //Minimum wait time between rolls float t = 1.5; // Encoder measurement function void Measure() { // Get pulses and send to HIDScope pulse_count = Encoder.getPulses(); int angle_pp =360/(X * N); int angle = pulse_count*angle_pp; scope.set(0, angle); scope.send(); } //Dice rolling function void Roll() { ledg = 1; // green led off ledr = 0; // red led on = rolling motor1PWM = 1; // motor on -> roll dice wait(3); motor1PWM = 0; // motor off //motor1DC = abs(motor1DC-1); // rotate other way next time //ledr = 1; // red led off //ledb = 0; // blue led on //Encoder.reset(); } int main() { motor1DC = 1; ledb = 1; ledr = 1; ledg = 0; while (true) { if(button1==0) { Roll(); wait(t); // wait before next roll to protect motors ledb = 1; ledg = 0; // green led on = ready to roll } Measure(); } }