Diff: main.cpp

Revision:

1:12e4c91a3b04

Parent:

0:7318c0dde997

Child:

3:8d143b23df2a

diff -r 7318c0dde997 -r 12e4c91a3b04 main.cpp
--- a/main.cpp	Fri Sep 08 03:58:36 2017 +0000
+++ b/main.cpp	Fri Sep 08 06:26:22 2017 +0000
@@ -6,6 +6,7 @@
 
 #include "ArrowShooter.h"
 
+#include "2017_4.h"
 
 #define SDA PB_7
 #define SCL PB_6
@@ -13,6 +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);
 Serial pc(USBTX, USBRX);
 
 double fire_work_time;
@@ -23,6 +25,9 @@
     master = new I2C(SDA, SCL);
     alpha = new AlphaTransporter(master);
     ArrowShooter shooter(master);
+    
+    Mekanamu.Drive(0, 0, 0);
+    float x, y, t;
     while(1)
     {
         alpha->set();
@@ -38,6 +43,11 @@
         }
         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);
     }