Diff: main.cpp

Revision:

22:bfc79c6ea2fd

Parent:

19:f21eb090a830

Child:

23:d844cc906b66

--- a/main.cpp	Thu Apr 14 16:34:06 2016 +0000
+++ b/main.cpp	Tue Apr 19 14:01:04 2016 +0000
@@ -10,7 +10,8 @@
 SyncGroup sync;
 
 MotorData mData = {PB_0, PC_1, PC_0};
-EncoderData encData = {PA_0, PA_1, 600};
+//EncoderData encData = {PA_0, PA_1, 100 * 64};
+EncoderData encData = {PA_0, PA_1, 102.083 * 64};
 
 EncoderMotor m(mData, encData, speedPIDData, turnPIDData, &sync);
 
@@ -31,7 +32,7 @@
 void fall()
 {
     pc.printf("fall\n");
-    m.drive(0.5);
+    m.drive(0.25);
 }
 
 int main()
@@ -41,8 +42,13 @@
     
     m.setup();
     
+    float turn;
     while(1)
     {
-        wait(0.1);
+        //scanf("%f", &turn);
+        //m.rotate(turn, 0.5);
+        
+        printf("%ld %f\n", m.getEncoder().getCount(), m.getEncoder().getTurn());
+        wait(0.25);
     }
 }
\ No newline at end of file