Diff: main.cpp

Revision:

2:b9297c2b2632

Parent:

1:ba8cdae2652a

Child:

3:4cd170cdf049

--- a/main.cpp	Thu Jul 13 11:33:01 2017 +0000
+++ b/main.cpp	Thu Jul 13 12:02:06 2017 +0000
@@ -4,9 +4,9 @@
 #include "pin_config.h"
 #include "FEP.h"
 
-MDC motor(i2c_sda, i2c_scl);
+MDC motor[4];
 Omni omni(4, 45);
-FEP fep(PB_10,PB_11);
+FEP fep(PA_0,PA_1,115200);
 DigitalOut leds[4] = {PC_13,PC_14,PC_15,PA_0};
 PwmOut pwm(PA_6);
 
@@ -24,7 +24,7 @@
         leds[i] = 0;
     }
     for(int j = 0; j < 4; j++) {
-        motor.write(7, j, 0);
+        motor[j].setAddr(7, j);
     }
     while(1) {
         fep_temp=fep.read_txt(data,6);
@@ -71,7 +71,7 @@
             }
             
             for(int j = 0; j < 4; j++) {
-                motor.write(7, j, omni.getOutput(j));
+                motor[j].write(omni.getOutput(j));
             }
             if(Button2[0] == 1 && Button2[1] == 0) {
                 pwm = 0.2;
@@ -83,7 +83,7 @@
         } else {
             omni.stop();
             for(int j = 0; j < 4; j++) {
-                motor.write(7, j, omni.getOutput(j));
+                motor[j].write(omni.getOutput(j));
             }
             pwm = 0.5;
         }