Big Dog / Mbed 2 deprecated MECH_BigDog_Driving

Open Loop drive forward

Dependencies:   mbed Tach ContinuousServo

Diff: main.cpp

Revision:
0:072052527879
Child:
1:da5831bec373
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Apr 16 14:54:18 2019 +0000
@@ -0,0 +1,25 @@
+#include "mbed.h"
+#include "ContinuousServo.h"
+#include "Tach.h"
+
+//servos
+ContinuousServo left(p23);
+ContinuousServo right(p26);
+//ecnoders
+Tach tLeft(p17,64);
+Tach tRight(p13,64);
+float wL;
+float wR;
+int main() {
+    while(1) {
+        left.speed(0.49);
+        wL=tLeft.getSpeed();
+        right.speed(-0.5); //the servo is inverted so much be negative
+        wR=tRight.getSpeed();
+        printf("Both moving, l=%f, r=%f\n\r",wL,wR);
+        wait(0.5);
+        left.stop();
+        right.stop();
+        
+    }
+}