Adam Sher / Mbed 2 deprecated Single_Axis

stuff n stuff

Dependencies:   AX12 mbed

Files at this revision

API Documentation at this revision

Revision 0:6044f996df91, committed 2015-04-16

Comitter:
frohst
Date:
Thu Apr 16 06:59:16 2015 +0000
Commit message:
initial;

Changed in this revision

AX12.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
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AX12.lib	Thu Apr 16 06:59:16 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/chris/code/AX12/#ced71d1b2558

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Apr 16 06:59:16 2015 +0000
@@ -0,0 +1,37 @@
+#include "mbed.h"
+#include "AX12.h"
+#include <cmath>
+
+Timer time;
+AX12 dyna(1,2,1);   //tx,rx,ID,Baud
+Serial comp(3,4);   //tx,rx
+AnalogIn pot(A0);   //pot pin
+
+int main()
+{
+    bool done=false;
+    float servoCmdTime=-1;
+    float degPerVolt=330/3.3;
+    comp.printf("Time(s),ServoPosition(deg),FlywheelError(deg)\n");
+    
+    dyna.SetMode(0);    //0-positional control. 1-velocity control
+    dyna.SetGoal(150,0);
+    float flyZero=pot.read()*degPerVolt;
+    
+    time.start();
+    while(!done)
+    {
+        
+        if(time.read()-servoCmdTime >= 0.001)
+        {
+            comp.printf("%.6f,%.2f,%.2f\n", time.read(), dyna.GetPosition(), pot.read()*degPerVolt-flyZero);
+            int goal=150+60*sin(2*pi()*time.read()*time.read()/10); //freq=time(s)/10
+            dyna.SetGoal(goal,1);
+            servoCmdTime=time.read();
+            if(time.read()/10 > 20)
+            {
+                done=true;
+            }
+        }
+    }   
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Apr 16 06:59:16 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/433970e64889
\ No newline at end of file