main.cpp

00001 #include "mbed.h"
00002 
00003 #include "DataPool.h"
00004 #include "AlphaTransporter.h"
00005 #include "BoolProcess.h"
00006 
00007 #include "2017_3_h.h"
00008 
00009 #define SDA PB_7
00010 #define SCL PB_6
00011 
00012 I2C *master;
00013 DataPool *beta;
00014 
00015 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);
00016 Serial pc(USBTX, USBRX);
00017 
00018 int main()
00019 {
00020     master = new I2C(SDA, SCL);
00021     beta = new AlphaTransporter(master);
00022 
00023     Omni.Drive(0, 0, 0, 0);
00024     float /*a, */x, y, t;
00025     while(1)
00026     {
00027         beta->set();
00028         //a = beta->read(3);
00029         x = beta->read(0) / 128.00 * -1.00;
00030         y = beta->read(1) / 128.00 * -1.00;
00031         t = beta->read(2) / 128.00 * -1.00;
00032         
00033         Omni.Drive(0, x, y, t);
00034             
00035         wait(0.01);
00036     }
00037 }