C++ Library for the PsiSwarm Robot - Version 0.8
Dependents: PsiSwarm_V8_Blank_CPP Autonomia_RndmWlk
Fork of PsiSwarmV7_CPP by
Diff: psiswarm.cpp
- Revision:
- 8:6c92789d5f87
- Parent:
- 6:b340a527add9
- Child:
- 9:dde9e21030eb
diff -r aa5a4a257895 -r 6c92789d5f87 psiswarm.cpp --- a/psiswarm.cpp Sun Oct 16 11:11:21 2016 +0000 +++ b/psiswarm.cpp Sun Oct 16 12:54:33 2016 +0000 @@ -22,6 +22,11 @@ #include "psiswarm.h" +//Setup class instances +Display display; //Connects to i2c(p28,p27), reset(p29), backlight(p30) +Motors motors; +Eprom eprom; + //Setup MBED connections to PsiSwarm Robot Serial pc(USBTX,USBRX); I2C primary_i2c (p9, p10); @@ -36,7 +41,6 @@ PwmOut motor_right_r(p24); PwmOut center_led_red(p25); PwmOut center_led_green(p26); -Display display; //Connects to i2c(p28,p27), reset(p29), backlight(p30) DigitalOut mbed_led1(LED1); DigitalOut mbed_led2(LED2); DigitalOut mbed_led3(LED3); @@ -164,7 +168,7 @@ debug("PsiSwarm Robot Library %1.2f\n\n",SOFTWARE_VERSION_CODE); debug("- Setting up serial interface\n"); debug("- Reading firmware: "); - if(read_firmware() == 1) { + if(eprom.read_firmware() == 1) { debug("Version %3.2f\n",firmware_version); IF_get_hardware_description(); if(use_motor_calibration){ @@ -203,7 +207,7 @@ system_warnings += 1; } debug("- Setting up motor drivers\n"); - IF_init_motors(); + motors.init_motors(); debug("- Setting up GPIO expansion\n"); reset_encoders(); IF_setup_gpio_expansion_ic();