Diff: main.cpp

Revision:

7:c0f5bb355f41

Parent:

6:e1fa1a2d7483

Child:

8:9bb806a7f585

--- a/main.cpp	Tue Apr 06 08:00:43 2021 +0200
+++ b/main.cpp	Tue Apr 06 09:13:25 2021 +0200
@@ -1,6 +1,5 @@
 #include "mbed.h"
 #include "platform/mbed_thread.h"
-#include "string"
 
 /* PM2_Libary */
 #include "EncoderCounter.h"
@@ -18,7 +17,7 @@
 
 bool  executeMainTask = false;
 Timer user_button_timer, loop_timer;
-int   Ts_ms = 2;
+int   Ts_ms = 50;
 
 /* declaration of custom button functions */
 void button_fall();
@@ -58,6 +57,7 @@
 int main()
 {
     bufferedSerial.set_baud(115200);
+    // bufferedSerial.set_blocking(false);
     
     user_button.fall(&button_fall);
     user_button.rise(&button_rise);
@@ -112,8 +112,8 @@
             /* read analog input */
             dist = analogIn.read() * 3.3f;
 
-            speedController_m0.setDesiredSpeedRPS( 1.0f);
-            speedController_m1.setDesiredSpeedRPS(-2.0f);
+            speedController_m0.setDesiredSpeedRPS( 0.5f);
+            speedController_m1.setDesiredSpeedRPS( 0.5f);
             pwmOut_m2.write(0.75f);
 
             servo_0.SetPosition(servo_desval_0);
@@ -129,16 +129,16 @@
             /* write output via serial buffer */
             int act_buffer_length = snprintf (buffer, 100,
                                               "%3.6e, %3.6e; \r\n",
-                                              speedController_m0.getSpeedRPM(),
-                                              speedController_m1.getSpeedRPM());
-            bufferedSerial.write(buffer, act_buffer_length);
+                                              speedController_m0.getSpeedRPS(),
+                                              speedController_m1.getSpeedRPS());
+            // bufferedSerial.write(buffer, act_buffer_length);
             
         } else {
 
             dist = 0.0f;
 
-            speedController_m0.setDesiredSpeedRPS(0.0f);
-            speedController_m1.setDesiredSpeedRPS(0.0f);
+            speedController_m0.setDesiredSpeedRPS(0.2f);
+            speedController_m1.setDesiredSpeedRPS(0.2f);
             pwmOut_m2.write(0.5f);
 
             servo_desval_0 = 0;