thijs ruikes
ding
Dependencies: Encoder HIDScope mbed
Diff: main.cpp
- Revision:
- 0:7e81becf02c6
- Child:
- 1:1709bd849df0
diff -r 000000000000 -r 7e81becf02c6 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 27 10:02:16 2014 +0000
@@ -0,0 +1,36 @@
+#include "mbed.h"
+#include "encoder.h"
+#include "HIDScope.h"
+
+#define TSAMP 1
+#define K_P (0.1)
+#define K_I (0.03 *TSAMP)
+#define K_D (0.0005 /TSAMP)
+#define I_LIMIT 1.
+
+#define M2_PWM PTC8
+#define M2_DIR PTC9
+#define M1_PWM PTA5
+#define M1_DIR PTA4
+DigitalIn encoderA(PTD0);
+DigitalIn encoderB(PTA2);
+PwmOut pwm(PTA5);
+DigitalOut dir(PTA4);
+HIDScope scope(5);
+float encA, encB;
+
+int main(){
+ while(1){
+ pwm = 0.2;
+ dir = 1;
+ encA = encoderA.read();
+ encB = encoderB.read();
+ scope.set(0,pwm);
+ scope.set(1,encA);
+ scope.set(2,encB);
+ scope.send();
+ }
+}
+
+
+