Diff: global.cpp

Revision:

6:52686c25e4af

Parent:

5:f655435d0782

Child:

7:5ef312aa2678

--- a/global.cpp	Fri Mar 25 13:36:14 2016 +0000
+++ b/global.cpp	Fri Mar 25 15:18:33 2016 +0000
@@ -5,27 +5,27 @@
 DigitalOut led2(LED2);
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
-DigitalOut leftDir(p29);
-DigitalOut rightDir(p30);
-DigitalOut spiReset(p11);
-DigitalOut ioReset(p12);
+DigitalOut leftDir(p24); //
+DigitalOut rightDir(p22); //
+DigitalOut spiReset(p8); //changed
+DigitalOut ioReset(p14); //
 
 // Comunication 
 SPI deSpi(p5, p6, p7);
 Pixy pixy(Pixy::SPI, p11, p12, p13);
 Serial pc(USBTX, USBRX); // PC serial channel
-Serial bt(p9, p10); // Bluetooth serial channel
+Serial bt(p28, p27); // Bluetooth serial channel
 
 // Control
-PI leftMotorPi(MOTOR_PERIOD, MOTOR_KP, MOTOR_KI);
-PI rightMotorPi(MOTOR_PERIOD, MOTOR_KP, MOTOR_KI);
-PI targetHeightPi(NAVIGATION_PERIOD, SPEED_KP SPEED_KI);
-PI targetXPi(NAVIGATION_PERIOD, STEERING_KP, STEERING_KI);
+PeriodicPI leftMotorPI(MOTOR_PERIOD, MOTOR_KP, MOTOR_KI);
+PeriodicPI rightMotorPI(MOTOR_PERIOD, MOTOR_KP, MOTOR_KI);
+PeriodicPI heightPI(NAVIGATION_PERIOD, SPEED_KP, SPEED_KI);
+PeriodicPI xPI(NAVIGATION_PERIOD, STEERING_KP, STEERING_KI);
 
 // Other
-PwmOut leftPwm(p21); 
-PwmOut rightPwm(p22); 
-InterruptIn bumper(p8);
+PwmOut leftPwm(p23); //
+PwmOut rightPwm(p21); //
+InterruptIn bumper(p25);
 
 // Converts measurements from the QE2 to rads/sec
 float QE2RadsPerSec(short counts, short time) {