Diff: main.cpp

Revision:

12:410ebe8573ce

Parent:

11:ba1a630e56c4

Child:

13:75892580d4ff

--- a/main.cpp	Wed May 13 12:25:02 2015 +0000
+++ b/main.cpp	Thu May 14 09:04:28 2015 +0000
@@ -4,27 +4,19 @@
 #include "Motor.h"
 
 
-void InitTimer0(void);
 
 //led pins
 DigitalOut led1(P2_6);
 DigitalOut led2(P2_7);
 DigitalOut led3(P2_8);
 AnalogIn hallSensor(P0_26);
-
-volatile int pulses_ = 0;
 //InterruptIn hall1_(P0_5), hall2_(P0_4);
 //Hallsensor hall1(P1_26, P1_27);
-//Hallsensor hall2(P0_4, P0_5);
 
 //Motor motor1(P2_0, P2_1,&hall1);
-//Motor motor2(P2_2, P2_3, &hall2);
 
 
-MPU9150 imu(P0_28, P0_27, P2_13);
-
-
-Serial RN42(P0_10, P0_11);
+//Serial RN42(P0_10, P0_11);
 Serial debug(P0_2, P0_3);
 
 Ticker infoTicker;
@@ -33,6 +25,10 @@
 Timer timer2;
 
 
+Hallsensor hall2(P0_4, P0_5);
+Motor motor2(P2_2, P2_3, &hall2);
+
+MPU9150 imu(P0_28, P0_27, P2_13);
 
 char buffer[200];
 void infoTask(void)
@@ -46,11 +42,12 @@
 int main()
 {
    
-    RN42.baud(9600);
+  //  RN42.baud(9600);
     debug.baud(115200);
    // InitTimer0();
     // initialize_connection();
 
+    
     infoTicker.attach(infoTask,0.2f);
 
     if(imu.isReady()) {
@@ -121,7 +118,7 @@
             debug.printf("p: %f r: %f y: %f ",pry.x/PI*180,pry.y/PI*180,pry.z/PI*180);
             debug.printf("m1: %d m2: %d \r\n ",motor2.getPulses(),motor2.getPulses());
             //motor1.setVelocity(pry.x/90);
-            motor2.setVelocity(pry.x/90);
+            motor2.setVelocity(0.7);
 
         }
     }