Diff: main.cpp

Revision:

25:c5773b021bb0

Parent:

24:3c0422e1ebd6

--- a/main.cpp	Thu Jan 15 15:58:25 2015 +0000
+++ b/main.cpp	Tue Jan 20 14:34:23 2015 +0000
@@ -21,39 +21,20 @@
 /*---------------------------------------------------------------------------------------------------------*/
 
 /*----------------------------------------------------------------------------------------------*/
-    /*Serial*/    
-    Serial pcs(USBTX, USBRX); // tx, rx
+/*Serial*/    
+Serial pcs(USBTX, USBRX); // tx, rx
 /*----------------------------------------------------------------------------------------------*/
 
 /* --- Initialisation de la liste des obstable --- */
 int Obstacle::lastId = 0;
 
+DigitalOut myled(LED1);
+
 int main()
 {
-    pcs.printf("demarrage");
-    //mbed
-    /*
-    PwmOut pw1(p22);
-    DigitalOut dir1(p21);
-    PwmOut pw2(p24);
-    DigitalOut dir2(p23);
-    */
+    pcs.baud(115200);
+    pcs.printf("Demarrage.\n");
     
-    //mbuino
-    /*
-    PwmOut pw1(P0_17);
-    DigitalOut dir1(P0_18);
-    PwmOut pw2(P0_23);
-    DigitalOut dir2(P0_19);
-    */
-    /*
-    //nucleo
-    PwmOut pw1(PB_8);
-    DigitalOut dir1(D12);
-    PwmOut pw2(PB_9);
-    DigitalOut dir2(D13);
-    */
-    //nucleo
     PwmOut pw1(PA_0);
     DigitalOut dir1(PB_8);
     PwmOut pw2(PA_1);
@@ -64,24 +45,18 @@
     
     dir1.write(0);
     dir2.write(0);    
+    pw1.write(0.0);
+    pw2.write(0.0);
+    pcs.printf("Mise a jour des pwm.\n");
     
-    pw1.write(0.1);
-    pw2.write(0.8);
-    //setPWM(&pw1,0.9);
-    pcs.printf("mise a jour des pwm.\n");
-    
-    //while(1);
     /*----------------------------------------------------------------------------------------------*/
     /*Odometry*/
-    //QEI qei_left(p15,p16,NC,1024*reduc,QEI::X4_ENCODING);
-    //QEI qei_left(P0_2,P0_7,NC,1024*reduc,QEI::X4_ENCODING);//mbuino
-    //QEI qei_left(PA_3,PA_2,NC,1024*reduc,QEI::X4_ENCODING);//nucleo
-    
-    //QEI qei_right(p17,p18,NC,1024*reduc,QEI::X4_ENCODING);
-    //QEI qei_right(P0_8,P0_20,NC,1024*reduc,QEI::X4_ENCODING);//mbuino
-    //QEI qei_right(PA_10,PB_3,NC,1024*reduc,QEI::X4_ENCODING);//nucleo
-
-    //Odometry odometry(&qei_left,&qei_right,0.07,0.07,0.26);
+    pcs.printf("Init QEI Right.\n");
+    QEI qei_right(D2,D3,NC,1024,QEI::X4_ENCODING);
+    pcs.printf("Init QEI Left.\n");
+    QEI qei_left(D4,D5,NC,1024,QEI::X4_ENCODING);
+    pcs.printf("Init Odometry.\n");
+    Odometry odometry(&qei_left,&qei_right,0.07,0.07,0.26);
     /*----------------------------------------------------------------------------------------------*/