Diff: main.cpp

Revision:

27:24a9ac72fe92

Parent:

26:c865244ca3cf

Child:

28:fd21faad6dd8

--- a/main.cpp	Thu May 12 17:00:10 2016 +0000
+++ b/main.cpp	Thu May 12 19:05:05 2016 +0000
@@ -11,6 +11,16 @@
 PIDData speedPIDData = {0.5f, 0.0f, 0.0f};
 PIDData turnPIDData = {30.0f, 0.01f, 1.0f};
 SyncGroup sync;
+
+/*
+PWM timer channel
+M1 1 2N
+M2 4 2
+M3 2 1
+M4 4 4
+M5 1 3N
+M6 2 2
+*/
     
 // 1
 MotorData m1Data = {PB_0, PC_0, PC_3}; //PWM, Dir1, Dir2
@@ -56,6 +66,8 @@
 //EncoderMotor m(mData, encData, ec, ecRot);
 //Motor m(PB_0, PC_1, PC_0);
 
+Ticker ticker;
+
 void rise()
 {
     //pc.printf("rise\n");
@@ -68,12 +80,25 @@
     m1.drive(0.25);
 }
 
+void tick()
+{
+    m1.tick();
+    m2.tick();
+    m3.tick();
+    m4.tick();
+    m5.tick();
+    //m6.tick();
+}
+
+const float tickTime = 1.f / 60;
+
 int main()
 {   
     printf("MAIN\n");
     bt.rise(&rise);
     bt.fall(&fall);
-    m1.setup();
+    
+    ticker.attach(&tick, tickTime);
     
     float rot, speed;
     //m.rotate(1.f, 0.5);