Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

main.cpp@13:dc5f5f19e4e8, 2016-04-12 (annotated)

Committer:
sim642
Date:
Tue Apr 12 13:25:01 2016 +0000
Revision:
13:dc5f5f19e4e8
Parent:
12:8de7f5d56fe4
Child:
19:f21eb090a830
Factor PID data into struct

Who changed what in which revision?

UserRevisionLine numberNew contents of line
phairero 0:0b7259fdb68a 1 #include "mbed.h"
sim642 3:2235787e78c4 2 #include "EncoderMotor.hpp"
phairero 0:0b7259fdb68a 3
phairero 0:0b7259fdb68a 4 InterruptIn bt(USER_BUTTON);
sim642 2:cf0147952fb9 5 Serial pc(USBTX, USBRX);
sim642 2:cf0147952fb9 6
sim642 9:31e850271c4a 7 MotorData mData = {PB_0, PC_1, PC_0};
sim642 8:c3af2a1c206c 8 EncoderData encData = {PA_0, PA_1, 600};
sim642 13:dc5f5f19e4e8 9 PIDData speedPIDData = {0.3f, 2.0f, 0.02f};
sim642 13:dc5f5f19e4e8 10 PIDData turnPIDData = {5.0f, 0.1f, 0.04f};
sim642 13:dc5f5f19e4e8 11
sim642 13:dc5f5f19e4e8 12 EncoderMotor m(mData, encData, speedPIDData, turnPIDData);
sim642 8:c3af2a1c206c 13
sim642 4:4d54794b99a5 14 //PIDController ec(0.2, 0.1, 0.01);
sim642 13:dc5f5f19e4e8 15 // PIDController ec(0.3, 2.0, 0.02);
sim642 4:4d54794b99a5 16 //PIDController ec(0.75, 2.0, 0.015);
sim642 5:7f800f61cb13 17 //PIDController ec(0.8, 1.5, 0.017);
sim642 13:dc5f5f19e4e8 18 // PIDController ecRot(5.0, 0.1, 0.04);
sim642 13:dc5f5f19e4e8 19 //EncoderMotor m(mData, encData, ec, ecRot);
sim642 4:4d54794b99a5 20 //Motor m(PB_0, PC_1, PC_0);
phairero 0:0b7259fdb68a 21
sim642 2:cf0147952fb9 22 void rise()
sim642 2:cf0147952fb9 23 {
sim642 2:cf0147952fb9 24 pc.printf("rise\n");
sim642 3:2235787e78c4 25 m.drive(0);
sim642 2:cf0147952fb9 26 }
phairero 0:0b7259fdb68a 27
sim642 2:cf0147952fb9 28 void fall()
sim642 2:cf0147952fb9 29 {
sim642 2:cf0147952fb9 30 pc.printf("fall\n");
sim642 4:4d54794b99a5 31 m.drive(0.5);
sim642 2:cf0147952fb9 32 }
phairero 1:8b0322a353f4 33
sim642 2:cf0147952fb9 34 int main()
sim642 3:2235787e78c4 35 {
sim642 3:2235787e78c4 36 bt.rise(&rise);
sim642 3:2235787e78c4 37 bt.fall(&fall);
sim642 3:2235787e78c4 38
sim642 8:c3af2a1c206c 39 //m.setup();
sim642 3:2235787e78c4 40
sim642 5:7f800f61cb13 41 float rot;
sim642 5:7f800f61cb13 42
sim642 2:cf0147952fb9 43 while(1)
sim642 2:cf0147952fb9 44 {
sim642 11:a0976d3b33c5 45 //pc.printf("%d\n", e.getCount());
sim642 8:c3af2a1c206c 46 wait(0.1);
sim642 5:7f800f61cb13 47 //pc.scanf("%f %f %f", &ec.Kp, &ec.Ki, &ec.Kd);
sim642 5:7f800f61cb13 48 //pc.scanf("%f %f %f %f", &ecRot.Kp, &ecRot.Ki, &ecRot.Kd, &rot);
sim642 8:c3af2a1c206c 49
sim642 8:c3af2a1c206c 50 //pc.scanf("%f", &rot);
sim642 8:c3af2a1c206c 51 //m.rotate(rot);
phairero 0:0b7259fdb68a 52 }
sim642 2:cf0147952fb9 53 }