Diff: main.cpp

Revision:

3:8d143b23df2a

Parent:

1:12e4c91a3b04

Child:

5:c0f36e89b910

--- a/main.cpp	Tue Sep 12 01:22:45 2017 +0000
+++ b/main.cpp	Wed Sep 13 02:11:09 2017 +0000
@@ -14,7 +14,7 @@
 I2C *master;
 DataPool *alpha;
 
-Mekanamu_4 Mekanamu(PA_8, PB_0, PA_2, PA_7, PA_11, PB_1, PA_6, PA_5, PB_5, PF_0, PA_4, PA_3, PB_4, PF_1, PA_1, PA_0, 1);
+Mecanamu_4 Mecanamu(PA_8, PB_0, PA_2, PA_7, PA_11, PB_1, PA_6, PA_5, PB_4, PF_1, PA_1, PA_0, PB_5, PF_0, PA_4, PA_3, 1);
 Serial pc(USBTX, USBRX);
 
 double fire_work_time;
@@ -26,7 +26,7 @@
     alpha = new AlphaTransporter(master);
     ArrowShooter shooter(master);
     
-    Mekanamu.Drive(0, 0, 0);
+    Mecanamu.Drive(0, 0, 0);
     float x, y, t;
     while(1)
     {
@@ -44,11 +44,12 @@
         if(fire_work_time >= 3.7)
             fire_work_allow = 0;
         
-        x = alpha->read(0) / 128;
-        y = alpha->read(1) / 128;
-        t = alpha->read(2) / 128;
-        Mekanamu.Drive(x, y, t);
-            
-        //printf("%f\r\n", fire_work_time);
+        x = alpha->read(0) / 128.00;
+        y = alpha->read(1) / 128.00;
+        t = alpha->read(2) / 128.00;
+        Mecanamu.Drive(x, y, t);
+        wait(0.1);
+        
+        printf("%lf, %lf, %lf\r\n", x, y, t);
     }
 }