Diff: main.cpp

Revision:

41:8ce8a3a47a92

Parent:

40:01a97bc4ef7a

Child:

42:7fa713d5d1af

--- a/main.cpp	Wed Jun 15 15:09:37 2016 +0000
+++ b/main.cpp	Wed Jun 15 16:00:48 2016 +0000
@@ -1,6 +1,5 @@
 #include "mbed.h"
 #include "EncoderMotor.hpp"
-#include "SyncGroup.hpp"
 
 InterruptIn bt(USER_BUTTON);
 Serial pc(PA_0, PA_1); //RF
@@ -11,7 +10,6 @@
 //PIDData turnPIDData = {5.0f, 0.1f, 0.04f};
 PIDData speedPIDData = {0.5f, 0.0f, 0.0f};
 PIDData turnPIDData = {30.0f, 0.01f, 1.0f};
-SyncGroup sync;
 
 /*
 PWM timer channel
@@ -26,32 +24,32 @@
 // 1
 MotorData m1Data = {PB_0, PA_4, PC_0}; //PWM, Dir1, Dir2
 EncoderData enc1Data = {PC_3, PC_1, 102.083 * 64}; //EncA, encB  // https://www.pololu.com/product/2826
-EncoderMotor m1(m1Data, enc1Data, speedPIDData, turnPIDData, NULL);
+EncoderMotor m1(m1Data, enc1Data, speedPIDData, turnPIDData);
 DigitalIn s1(PA_8);
 // 2
 MotorData m2Data = {PB_7, PA_6, PB_9};  //PB7 = fault dir2 oli enne PC13
 EncoderData enc2Data = {PC_14, PC_15, 102.083 * 64};
-EncoderMotor m2(m2Data, enc2Data, speedPIDData, turnPIDData, NULL);
+EncoderMotor m2(m2Data, enc2Data, speedPIDData, turnPIDData);
 DigitalIn s2(PH_1);
 // 3
 MotorData m3Data = {PA_15, PC_12, PC_10}; 
 EncoderData enc3Data = {PC_11, PA_9, 102.083 * 64}; //B oli varem PA_13
-EncoderMotor m3(m3Data, enc3Data, speedPIDData, turnPIDData, NULL);
+EncoderMotor m3(m3Data, enc3Data, speedPIDData, turnPIDData);
 DigitalIn s3(PA_14);
 // 4
 MotorData m4Data = {PB_8, PC_6, PC_9}; 
 EncoderData enc4Data = {PC_5, PA_12, 102.083 * 64};
-EncoderMotor m4(m4Data, enc4Data, speedPIDData, turnPIDData, NULL);
+EncoderMotor m4(m4Data, enc4Data, speedPIDData, turnPIDData);
 DigitalIn s4(PA_11);
 // 5
 MotorData m5Data = {PB_15, PB_1, PB_2}; 
 EncoderData enc5Data = {PC_7, PB_6, 102.083 * 64}; //B oli varem PB_13, A oli varem PB_14
-EncoderMotor m5(m5Data, enc5Data, speedPIDData, turnPIDData, NULL);
+EncoderMotor m5(m5Data, enc5Data, speedPIDData, turnPIDData);
 DigitalIn s5(PC_4);
 // 6
 MotorData m6Data = {PB_3, PA_7, PB_5};  //PA_2 = TX; PA_3 (m6-fault) = RX DIR2 oli enne PA2
 EncoderData enc6Data = {PB_4, PA_10, 102.083 * 64};
-EncoderMotor m6(m6Data, enc6Data, speedPIDData, turnPIDData, NULL); 
+EncoderMotor m6(m6Data, enc6Data, speedPIDData, turnPIDData); 
 DigitalIn s6(PB_10);
 
 const int MOTORS = 6;