Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

Diff: main.cpp

Revision:
23:d844cc906b66
Parent:
22:bfc79c6ea2fd
Child:
24:fb1827be6f7e
--- a/main.cpp	Tue Apr 19 14:01:04 2016 +0000
+++ b/main.cpp	Tue Apr 19 16:03:56 2016 +0000
@@ -5,15 +5,19 @@
 InterruptIn bt(USER_BUTTON);
 Serial pc(USBTX, USBRX);
 
-PIDData speedPIDData = {0.3f, 2.0f, 0.02f};
+//PIDData speedPIDData = {0.3f, 2.0f, 0.02f};
+//PIDData turnPIDData = {5.0f, 0.1f, 0.04f};
+PIDData speedPIDData = {0.5f, 0.0f, 0.0f};
 PIDData turnPIDData = {5.0f, 0.1f, 0.04f};
 SyncGroup sync;
 
-MotorData mData = {PB_0, PC_1, PC_0};
+MotorData mData = {PB_0, PC_0, PC_1};
 //EncoderData encData = {PA_0, PA_1, 100 * 64};
-EncoderData encData = {PA_0, PA_1, 102.083 * 64};
+EncoderData encData = {PA_0, PA_1, 102.083 * 64}; // https://www.pololu.com/product/2826
 
-EncoderMotor m(mData, encData, speedPIDData, turnPIDData, &sync);
+EncoderMotor m(mData, encData, speedPIDData, turnPIDData, NULL);
+
+//SpeedEncoder s(encData);
 
 //PIDController ec(0.2, 0.1, 0.01);
 // PIDController ec(0.3, 2.0, 0.02);
@@ -42,13 +46,19 @@
     
     m.setup();
     
-    float turn;
+    float speed;
     while(1)
     {
         //scanf("%f", &turn);
-        //m.rotate(turn, 0.5);
+        //m.rotate(turn, 0.2);
+        //scanf("%f", &speed);
+        //m.drive(speed);
+        //printf("%f %f\n", s.getTurnSpeed(), m.getSetSpeed());
+        //printf("%f %f\n", m.s, m.getSetSpeed());
         
-        printf("%ld %f\n", m.getEncoder().getCount(), m.getEncoder().getTurn());
-        wait(0.25);
+        //printf("%ld %f\n", m.getEncoder().getCount(), m.getEncoder().getTurn());
+        m.tick();
+        //printf("%f %f\n", m.getEncoder().getTurn(), m.getSetTurn());
+        wait(1.f / 60);
     }
 }
\ No newline at end of file