Diff: main.cpp

Revision:

37:41abbd7eaec1

Parent:

36:54f86bc6fd80

Child:

38:28f476eacde4

diff -r 54f86bc6fd80 -r 41abbd7eaec1 main.cpp
--- a/main.cpp	Sun Mar 08 21:24:27 2015 +0000
+++ b/main.cpp	Tue Mar 10 17:31:11 2015 +0000
@@ -39,10 +39,10 @@
     */
     //nucleo
     
-    PwmOut pw1(PA_0);
-    DigitalOut dir1(PB_8);
-    PwmOut pw2(PA_1);
-    DigitalOut dir2(PB_9);
+    PwmOut pw1(PB_13);
+    DigitalOut dir1(PC_9);
+    PwmOut pw2(PB_14);
+    DigitalOut dir2(PB_8);
     
         
     Motor motorR(&pw1,&dir1);
@@ -52,9 +52,16 @@
     
     /*----------------------------------------------------------------------------------------------*/
     /*Odometry*/
-    QEI qei_left(D2,D3,NC,1024*4,QEI::X4_ENCODING);
-    QEI qei_right(D4,D5,NC,1024*4,QEI::X4_ENCODING);
+    QEI qei_left(PB_3,PA_10,NC,1024*4,QEI::X4_ENCODING);
+    QEI qei_right(PB_4,PB_5,NC,1024*4,QEI::X4_ENCODING);
     Odometry odometry(&qei_left,&qei_right,63/2.,63/2.,280);
+    DigitalOut led(LED1);
+    while(1)
+    {
+        pcs.printf("x: %f\ty: %f\ttheta: %f\r\n",odometry.getX(),odometry.getY(),odometry.getTheta());
+        led = !led;
+        wait(0.5);
+    }
     bool testOdo = true;
     
     
@@ -96,7 +103,6 @@
     }
         
     
-    DigitalOut led(LED1);
     while(1)
     {
         //setPWM(&pw1,0.0);