Diff: main.cpp

Revision:

5:f1613df66ceb

Parent:

4:208f5279143a

Child:

6:477382219bcf

--- a/main.cpp	Sat Mar 23 19:46:09 2019 +0000
+++ b/main.cpp	Mon Mar 25 22:42:31 2019 +0000
@@ -4,17 +4,15 @@
 #include "mbed.h"
 #include "Encoder.h"
 #include "lineSensor.h"
-#include "P.h"
+#include "PID2.h"
 #include "PID.h"
-#include "LWheel.h"
-#include "RWheel.h"
+#include "Wheel.h"
 #include "Robot.h"
 
 
 //blue D8
 //Green D9
 //Red D5
-int i = 0;
 int main() {
     Serial pc(USBTX, USBRX);
     
@@ -23,13 +21,13 @@
     
     Encoder* RE = new Encoder(PB_3,PB_5);
     Encoder* LE = new Encoder(PB_10,PB_4);
-    LWheel* leftWheel = new LWheel(LE,PC_8,PA_9, PA_14);
-    RWheel* rightWheel = new RWheel(RE,PC_6,PA_8, PB_6);
+    Wheel* leftWheel = new Wheel(LE,PC_8,PA_9, PA_14);
+    Wheel* rightWheel = new Wheel(RE,PC_6,PA_8, PA_7);
     
     //an array of lineSensor pointers params: lineSensor(PinName emitter Pin, PinName reciever Pin, make sure it is from LEFT TO RIGHT
     lineSensor* sensorArray[6] = {new lineSensor(PB_9,A0),new lineSensor(PC_11,A1),new lineSensor(PD_2,A2),new lineSensor(PC_10,A3),new lineSensor(PB_8,A4),new lineSensor(PC_12,A5)};
 
-    leftWheel->init(0);
+    leftWheel->init(1);
     
     while(leftWheel->returnAngularVelocity()!= 0)
     {
@@ -41,16 +39,12 @@
     {
      pc.printf("Stage 2, speed %f\r\n",rightWheel->returnAngularVelocity()); 
     }
-    pc.printf("L , speed%f\r\n",leftWheel->returnMaxAngularVel());
+    pc.printf("L , speedM%f\r\n",leftWheel->returnMaxAngularVel());
     pc.printf("R , speedM %f\r\n",rightWheel->returnMaxAngularVel());
-    //Robot rbt(leftWheel, rightWheel, sensorArray);
-    leftWheel->adjustAngularVelocity(40.0f);
-    rightWheel->adjustAngularVelocity(-64.0f);
+    
+    Robot rbt(leftWheel, rightWheel, sensorArray);
     while(1)
     {
-    pc.printf("L , speed%f\r\n",leftWheel->returnAngularVelocity());
-    pc.printf("R , speedM %f\r\n",rightWheel->returnAngularVelocity());
     }
     
 }
-//lineSensor* sensorArray[6] = {new lineSensor(D11,A0),new lineSensor(D7,A1),new lineSensor(D6,A2),new lineSensor(D5,A3),new lineSensor(D4,A4),new lineSensor(D3,A5)};
\ No newline at end of file