Diff: main.cpp

Revision:

11:38e621509cdc

Parent:

10:95e41bc4252c

--- a/main.cpp	Sun May 19 20:06:39 2019 +0000
+++ b/main.cpp	Thu Aug 08 12:18:35 2019 +0000
@@ -1,16 +1,17 @@
 //
 
-//
 #include <Motor.h>
 #include <encoderKRAI.h>
 #include <mbed.h>
 // declare
-Motor main_motor(PB_15, PB_14, PB_13 ); // input pin
+Motor main_motor(PA_7, PA_5, PA_6 );// input pin
+Motor main_motorB(PB_0 ,PC_0, PC_1); //input pin
+Motor main_motorC(PB_1, PB_14, PB_15 );// input pin
 DigitalOut pneu(PC_6);// input pin
 DigitalOut pneu1(PC_5);// input pin
 DigitalOut pneu2(PC_8);// input pin
 DigitalIn infrared(PB_12, PullUp); // input pin
-encoderKRAI encoder(PB_2,PB_1,538,encoderKRAI::X4_ENCODING);// input pin
+encoderKRAI encoder(PC_2,PC_3,538,encoderKRAI::X4_ENCODING);// input pin
 Serial pc(USBTX, USBRX,115200);
 
 int count, count_ball ;
@@ -27,7 +28,9 @@
     total_pulse += pulse;
     total_pulse_in_degree = total_pulse*360/538;
 }
-
+  
+    
+    
 void PID(double theta){
         //pid
         galat = theta - total_pulse_in_degree;
@@ -81,6 +84,14 @@
 int t1;
 
 int main(){
+    encoder.reset();
+    while (1){
+        //MoveMotor(3600);
+        main_motor.speed(0.5);
+        main_motorB.speed(0.5);
+        main_motorC.speed(0.5);
+        }
+    /*
     pneu = 1;
     encoder.reset();
     int state = 1;
@@ -108,5 +119,5 @@
         }
     if (count_ball==6) pneu = 1;
     
-    }
+    }*/
 }