Diff: main.cpp

Revision:

35:bce9ac485178

Parent:

34:30391b6c26fc

Child:

36:906323851366

--- a/main.cpp	Thu Jun 02 14:15:10 2016 +0000
+++ b/main.cpp	Thu Jun 02 15:12:01 2016 +0000
@@ -24,8 +24,8 @@
 */
     
 // 1
-MotorData m1Data = {PB_0, PC_0, PC_3}; //PWM, Dir1, Dir2
-EncoderData enc1Data = {PC_1, PA_4, 102.083 * 64}; //EncA, encB  // https://www.pololu.com/product/2826
+MotorData m1Data = {PB_0, PC_0, PA_4}; //PWM, Dir1, Dir2
+EncoderData enc1Data = {PC_1, PC_3, 102.083 * 64}; //EncA, encB  // https://www.pololu.com/product/2826
 EncoderMotor m1(m1Data, enc1Data, speedPIDData, turnPIDData, NULL);
 DigitalIn s1(PA_8);
 // 2
@@ -34,8 +34,8 @@
 EncoderMotor m2(m2Data, enc2Data, speedPIDData, turnPIDData, NULL);
 DigitalIn s2(PH_1);
 // 3
-MotorData m3Data = {PA_15, PC_11, PC_10}; 
-EncoderData enc3Data = {PC_12, PA_9, 102.083 * 64}; //B oli varem PA_13
+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);
 DigitalIn s3(PA_14);
 // 4
@@ -49,14 +49,16 @@
 EncoderMotor m5(m5Data, enc5Data, speedPIDData, turnPIDData, NULL);
 DigitalIn s5(PC_4);
 // 6
-MotorData m6Data = {PB_3, PA_10, PA_7};  //PA_2 = TX; PA_3 (m6-fault) = RX DIR2 oli enne PA2
-EncoderData enc6Data = {PB_5, PB_4, 102.083 * 64};
+MotorData m6Data = {PB_3, PB_5, PA_7};  //PA_2 = TX; PA_3 (m6-fault) = RX DIR2 oli enne PA2
+EncoderData enc6Data = {PA_10, PB_4, 102.083 * 64};
 EncoderMotor m6(m6Data, enc6Data, speedPIDData, turnPIDData, NULL); 
 DigitalIn s6(PB_10);
+
 const int MOTORS = 6;
 EncoderMotor* ms[MOTORS] = {&m1, &m2, &m3, &m4, &m5, &m6};
 volatile int active = 0;
 DigitalIn ss[MOTORS] = {s1, s2, s3, s4, s5, s6};
+
 Ticker ticker;
 
 void rise()