Diff: main.cpp

Revision:

0:ad9600df4a70

Child:

2:abdf8c6823a1

diff -r 000000000000 -r ad9600df4a70 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Nov 16 11:32:44 2015 +0000
@@ -0,0 +1,36 @@
+#include "Odometry.h"
+
+#define dt 10000
+
+Ticker ticker;
+//Timer t;
+
+Odometry odo(47.4, 47.2, 231.0);
+
+//Serial pc(PA_9, PA_10);
+//Serial pc(USBTX, USBRX);
+
+void update_main(void);
+
+int main(void)
+{
+    odo.setPos(0, 0, 0);
+    //pc.baud(115200);
+    //pc.printf("Hello world !\n\r");
+    ticker.attach_us(&update_main,dt); // 100 Hz
+    wait_ms(1000);
+    
+    while(1)
+    {
+        //pc.printf("Enc1 : %6.2f\tSpeed1 :%6.2f\tEnc2 : %6.2f\tSpeed2 : %6.2f\n\r",enc1,speed1,enc2,speed2);
+        //pc.printf("Theta : %5d\n\r", _roboclaw.ReadEncM1(ADR));
+        wait_ms(10);
+    }
+}
+
+void update_main(void)
+{
+    odo.update_odo();
+    odo.GotoXYT(100,100,0);
+    //pc.printf("Theta : %3.3f\n\r", odo.getTheta()*180/PI);
+}