Project Paint / Mbed 2 deprecated arm_control

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Dependencies:   mbed QEI biquadFilter

robot_test.cpp

Committer:
Jankoekenpan
Date:
2016-11-04
Revision:
29:1c5254b27851
Parent:
7:a80cb6b06320

File content as of revision 29:1c5254b27851:

//#include "robot.h"
//#include "geometry.h"
//
//Serial pc(USBTX, USBRX);
//
//AnalogIn upperPotMeter(A0);
//AnalogIn lowerPotMeter(A1);
//
//InterruptIn button(D2);
//InterruptIn killButton(D3);
//
//Robot robot;
//
//void readArmLengths(float &upper, float &lower) {
//    upper = L_min + (L_max - L_min) * upperPotMeter;
//    lower = L_min + (L_max - L_min) * lowerPotMeter;
//}
//
//void onButtonPress()    {
//    float upper;
//    float lower;
//    readArmLengths(upper, lower);
//    
//    pc.printf("Reference: Lower: %f, Upper: %f\n\r", lower, upper);
//    pc.printf("Encoder:   Lower: %f, Upper: %f\n\r", robot.getLowerArmLength(), robot.getUpperArmLength());
//    
//    robot.setUpperArmLength(upper);
//    robot.setLowerArmLength(lower);
//
////    robot.setLowerArmVelocity(2);
////    robot.setUpperArmVelocity(1);
//    
//}
//
//int main() {
//    pc.baud(115200);
//    button.fall(&onButtonPress);
//    killButton.fall(&robot, &Robot::kill);
//    pc.printf("Test\n\r");
//    while (true);
//}