Diff: main.cpp

Revision:

1:d5c5bb30ac90

Parent:

0:380207fcb5c1

Child:

2:3f836b662104

--- a/main.cpp	Thu Mar 29 07:02:09 2018 +0000
+++ b/main.cpp	Thu Mar 29 09:25:16 2018 +0000
@@ -3,10 +3,38 @@
 #include "IMU.h"
 #include "Controller.h"
 
- // create miscellaneous periphery objects
-DigitalOut led1(LED1);
+// create miscellaneous periphery objects
+DigitalOut led1(PB_13);
+DigitalOut led2(PC_8);
+DigitalOut led3(PC_9);
+DigitalOut led4(PC_0);
+DigitalOut led5(PC_1);
+DigitalOut led6(PH_1);
+DigitalOut led7(PC_2);
+DigitalOut led8(PC_3);
+DigitalOut led9(PB_0);
+
+DigitalIn user_button(USER_BUTTON);
+//DigitalIn reset_button(NRST);
+
+// create IMU comunication objects
+SPI spi(PC_12, PC_11, PC_10); // mosi, miso, sclk
+DigitalOut csAG(PA_15);
+DigitalOut csM(PD_2);
 
 // create motor control objects
+DigitalOut enable1(PB_1);
+DigitalOut enable2(PB_2);
+DigitalOut enable3(PB_3);
+
+PwmOut pwm1(PA_8);
+PwmOut pwm2(PA_9);
+PwmOut pwm3(PA_10);
+
+// crete Encoder read objects
+EncoderCounter counter1(PA_0, PA_1);
+EncoderCounter counter2(PA_6, PC_7);
+EncoderCounter counter3(PB_6, PB_7);
 
 // create distance sensor objects
 
@@ -20,13 +48,15 @@
 // instance objects
 
     //IMU
+    IMU imu(spi, csAG, csM);
     //controller
+    Controller controller(pwm1,pwm2,pwm3,counter1,counter2,counter3,imu);
     //stateMachine
 
     while (true) {
-        
+
         //printf tests
-        
+
         led1 = !led1;
         wait(0.5);
     }