Diff: main.cpp

Revision:

8:1ce513eff545

Parent:

3:7ca21112a13d

Child:

9:fd77a619181d

diff -r ae096a326a56 -r 1ce513eff545 main.cpp
--- a/main.cpp	Fri Dec 04 05:31:17 2015 +0000
+++ b/main.cpp	Fri Dec 04 05:56:00 2015 +0000
@@ -1,15 +1,39 @@
 #include "mbed.h"
-#include "util.h"
+
+#include "pid.h"
+
+Ticker Systicker;
+
+
+//////setting the errors for PID
+ctrl obj;
+    
+
+
+
+
+
+
+void systick(){ //rotations
+    float error = rotationError();
+    obj.updateErr(error);
+    float corr = obj.total();
+    leftMotor.addToPwm(corr);
+    rightMotor.addToPwm(-corr);    
+
+    
+    
+    }
+
 
 int main()
 {
-    while(1){
-        pc.printf("L: %d\n", leftMotor.getPulses());  
-        pc.printf("R: %d\n", rightMotor.getPulses());
-        
-        leftMotor.setPwm(1.0);
-        rightMotor.setPwm(1.0);   
-    }
+    Systicker.attach_us(&systick,1000);
+    rightMotor.setPwm(1.0);
+    leftMotor.setPwm(1.0);
+    
+    
+    
     return 0;
 }