Diff: main.cpp

Revision:

1:ebb68f50a49d

Parent:

0:847a475cf9a0

Child:

2:d836267af023

--- a/main.cpp	Mon Sep 11 05:02:21 2017 +0000
+++ b/main.cpp	Tue Sep 12 01:45:15 2017 +0000
@@ -4,6 +4,7 @@
 #include "AlphaTransporter.h"
 #include "BoolProcess.h"
 
+#include "2017_3_h.h"
 
 #define SDA PB_7
 #define SCL PB_6
@@ -11,16 +12,23 @@
 I2C *master;
 DataPool *beta;
 
+Omni_3 Omni(PB_4, PB_0, PA_7, PA_2, PB_5, PB_1, PA_5, PA_6, PA_11, PF_0, PA_4, PA_3, 1);
 Serial pc(USBTX, USBRX);
 
 int main()
 {
     master = new I2C(SDA, SCL);
     beta = new AlphaTransporter(master);
+
+    Omni.Drive(0, 0, 0);
+    float x, y, t;
     while(1)
     {
-
-         //shooter.fire(); 
-        //printf("%f\r\n", fire_work_time);
+        beta->set();
+        
+        x = beta->read(0) / 128;
+        y = beta->read(1) / 128;
+        t = beta->read(2) / 128;
+        Omni.Drive(x, y, t);
     }
 }