Diff: main.cpp

Revision:

15:fb0bbce41a0f

Parent:

14:0afc46ad1b99

Child:

16:e51ddfaf2e7a

--- a/main.cpp	Mon Oct 21 09:39:10 2019 +0000
+++ b/main.cpp	Mon Oct 21 10:05:12 2019 +0000
@@ -15,12 +15,12 @@
 AnalogIn potmeter3(A2);
 AnalogIn potmeter4(A3);
 // Encoder
-DigitalIn encA1(D13);
-DigitalIn encB1(D12);
-DigitalIn encA2(D9);
-DigitalIn encB2(D8);
-QEI encoder1(D13,D12,NC,64,QEI::X4_ENCODING);
-QEI encoder2(D9,D8,NC,64,QEI::X4_ENCODING);
+DigitalIn encA1(D9);
+DigitalIn encB1(D8);
+DigitalIn encA2(D13);
+DigitalIn encB2(D13);
+QEI encoder1(D9,D8,NC,64,QEI::X4_ENCODING);
+QEI encoder2(D13,D12,NC,64,QEI::X4_ENCODING);
 float Ts = 0.01;
 float motor1angle;
 float motor2angle;
@@ -224,7 +224,7 @@
         pc.printf("refangle1: %f   Error1:  %f     \r\n",motor1ref, motor1error);
         pc.printf("Angle2:  %f   Omega2:       %f\r\n", motor2angle, omega2);
         pc.printf("refangle2: %f   Error2:  %f     \r\n",motor2ref, motor2error);
-        pc.printf("counts2: %f delta2: %f \r\n", counts2, deltaCounts2);
+        pc.printf("controlsignal2: %d \r\n", controlsignal2);
         
         wait(0.5);
     }