Diff: main.cpp

Revision:

1:f63faad28bb1

Parent:

0:3b9eb11e9b4b

Child:

2:211e4d6e430b

Child:

3:d806e2426788

--- a/main.cpp	Thu Aug 10 07:17:20 2017 +0000
+++ b/main.cpp	Tue Aug 22 01:55:25 2017 +0000
@@ -1,22 +1,25 @@
 #include "mbed.h"
 #include "ikarashiMDC.h"
 Serial serial(PC_10,PC_11);
-DigitalOut serialControl(D2);
+DigitalOut serialcontrol(D2);
 
-ikarashiMDC ikarashi;
-DigitalOut pwm(LED1);
+ikarashiMDC ikarashi[]{
+    ikarashiMDC(&serialcontrol,2,2,SM,&serial),
+    ikarashiMDC(&serialcontrol,2,3,LAP,&serial),
+};
+PwmOut pwm(LED1);
 
 int main() {
     serial.baud(115200);
-    serialControl =1;
-    float i = -1;
-    ikarashi.setMotorinfo(0,0,&serial);    
+    float i = -1,j = -1;
     while(1) {
-        //pwm = ikarashi.checkcomm();
-        ikarashi.setMotorSpeed(i);
+        ikarashi[0].setSpeed(i);
+        ikarashi[1].setSpeed(i);
         i += 0.01;
+        j += 0.02;
+        pwm = fabs(i);
         wait_ms(20);
         if(i >= 1) i = -1;
-
+        if(j >= 1) j = -1;
     }
 }