MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

Diff: main.cpp

Revision:
4:b5b7836ca2b0
Parent:
3:880f15be8c72
Child:
6:3d68fedd6fd9
--- a/main.cpp	Fri Apr 28 01:08:29 2017 +0000
+++ b/main.cpp	Fri Apr 28 02:13:24 2017 +0000
@@ -1,32 +1,17 @@
 #include "mbed.h"
+
+#include "irled.h"
+#include "main.h"
+#include "motor.h"
+
 #include <stdlib.h>
 #include "ITG3200.h"
 
-
-DigitalOut redLed(PC_0);
-DigitalOut blueLed(PC_1);
-DigitalOut greenLed(PC_2);
-
-DigitalOut IR_1(PB_1);
-DigitalOut IR_2(PB_13);
-DigitalOut IR_3(PB_0);
-DigitalOut IR_4(PB_14);
+// PID
+#define P_CONSTANT 0.0025
+#define I_CONSTANT 0.0000025
+#define D_CONSTANT 0.25
 
-AnalogIn Rec_1(PC_5);
-AnalogIn Rec_2(PC_4);
-AnalogIn Rec_3(PA_6);
-AnalogIn Rec_4(PA_7);
-
-Serial serial(PC_6, PC_7);
-
-ITG3200 gyro(PC_9, PA_8);
-
-
-volatile double reading = 0;
-
-int gyroX = 0;
-int gyroY = 0;
-int gyroZ = 0;
 
 int main()
 {