nRF24L01, encoder, pca9685, pid
Dependencies: mbed QEI-1 nRF24L01P xiugai
Revision 4:652d2be11b35, committed 2019-10-25
- Comitter:
- brainliang
- Date:
- Fri Oct 25 02:58:18 2019 +0000
- Parent:
- 3:ee5e434e047e
- Commit message:
- nRF24L01,encoder,pid,pca9685
Changed in this revision
PCA9685PWM.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 |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PCA9685PWM.lib Fri Oct 25 02:58:18 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/lant19/code/xiugai/#970c2fa6ef3f
--- a/main.cpp Wed Oct 16 13:59:33 2019 +0000 +++ b/main.cpp Fri Oct 25 02:58:18 2019 +0000 @@ -18,11 +18,9 @@ QEI qei_PA_0(PA_0,PA_1,NC,13,QEI::X4_ENCODING); Serial Serial_2(PA_2,PA_3); -Ticker tick622103; PwmOut myServoPB_0(PB_0); PwmOut myServoPB_1(PB_1); - - +Ticker tick561436; void PID_Caculation() { Error = 0 - Position; @@ -60,7 +58,7 @@ } } -void tick622103_handle() { +void tick561436_handle() { Position = Position + qei_PA_0.getPulses(); qei_PA_0.reset(); Serial_2.printf("%d\n",Position); @@ -72,10 +70,12 @@ int main() { Serial_2.baud(9600); -tick622103.attach(&tick622103_handle,0.05); - +tick561436.attach(&tick561436_handle,0.05); Position = 0; qei_PA_0.reset(); +P = 1; +I = 0; +D = 10; while (true) { }