Diff: bot/tentacle_unit/tentacle_unit.cpp

Revision:

26:7258d5ad0bff

Parent:

23:37bb9afe9fdc

diff -r d199d621ecca -r 7258d5ad0bff bot/tentacle_unit/tentacle_unit.cpp
--- a/bot/tentacle_unit/tentacle_unit.cpp	Sat Sep 30 17:59:10 2017 +0900
+++ b/bot/tentacle_unit/tentacle_unit.cpp	Wed Oct 25 03:25:06 2017 +0900
@@ -2,10 +2,11 @@
 
 Tentacle::Tentacle(DigitalOut* RS485Controller, Serial* RS485) :
 	tentacleMotor({
-    {RS485Controller, 1, 0, SM, RS485},
+    {RS485Controller, 1, 3, SM, RS485},
     {RS485Controller, 1, 1, SM, RS485},
   }),
-  right(Sensor3pin3a, Sensor3pin3b), left(Sensor4pin2a, Sensor4pin2b)
+  right(PWM3, PWM6),left(PWM8,PWM10),
+	debugSerial(USBTX, USBRX, 115200)
 {
 	tentacleMotor[0].braking = true;
   tentacleMotor[1].braking = true;
@@ -30,3 +31,8 @@
   tentacleMotor[0].setSpeed(0);
   tentacleMotor[1].setSpeed(0);
 }
+
+void Tentacle::debugPrint()
+{
+	debugSerial.printf("right:%d left:%d\r\n",right.getPosition(),left.getPosition());
+}