2017_Bteam_beta_master_ashi
Dependencies: Alpha_Movements BoolProcess DataCaller_beta MD_PID mbed
Fork of 2017_Bteam_beta_master by
main.cpp
- Committer:
- hirotayamato
- Date:
- 2017-09-29
- Revision:
- 15:c78ef3aa8f5d
- Parent:
- 14:b2569bdcd716
File content as of revision 15:c78ef3aa8f5d:
#include "mbed.h" #include "DataPool.h" #include "AlphaTransporter.h" #include "BoolProcess.h" #include "2017_3_h.h" #define SDA PB_7 #define SCL PB_6 I2C *master; DataPool *beta; Omni_3 Omni(PB_4, PB_0, PA_7, PA_12, PB_5, PB_1, PA_5, PA_6, PA_11, PF_0, PA_3, PA_4, 1); Serial pc(USBTX, USBRX); int main() { master = new I2C(SDA, SCL); beta = new AlphaTransporter(master); Omni.Drive(0, 0, 0, 0); float /*a, */x, y, t; while(1) { beta->set(); //a = beta->read(3); x = beta->read(0) / 128.00 * -1.00; y = beta->read(1) / 128.00 * -1.00; t = beta->read(2) / 128.00 * -1.00; Omni.Drive(0, x, y, t); wait(0.01); } }