Diff: main.cpp

Revision:

13:dc5f5f19e4e8

Parent:

12:8de7f5d56fe4

Child:

19:f21eb090a830

--- a/main.cpp	Tue Apr 12 13:12:49 2016 +0000
+++ b/main.cpp	Tue Apr 12 13:25:01 2016 +0000
@@ -1,20 +1,22 @@
 #include "mbed.h"
 #include "EncoderMotor.hpp"
-#include "PIDController.hpp"
-#include "LerpSmoother.hpp"
 
 InterruptIn bt(USER_BUTTON);
 Serial pc(USBTX, USBRX);
 
 MotorData mData = {PB_0, PC_1, PC_0};
 EncoderData encData = {PA_0, PA_1, 600};
+PIDData speedPIDData = {0.3f, 2.0f, 0.02f};
+PIDData turnPIDData = {5.0f, 0.1f, 0.04f};
+
+EncoderMotor m(mData, encData, speedPIDData, turnPIDData);
 
 //PIDController ec(0.2, 0.1, 0.01);
-PIDController ec(0.3, 2.0, 0.02);
+// PIDController ec(0.3, 2.0, 0.02);
 //PIDController ec(0.75, 2.0, 0.015);
 //PIDController ec(0.8, 1.5, 0.017);
-PIDController ecRot(5.0, 0.1, 0.04);
-EncoderMotor m(mData, encData, ec, ecRot);
+// PIDController ecRot(5.0, 0.1, 0.04);
+//EncoderMotor m(mData, encData, ec, ecRot);
 //Motor m(PB_0, PC_1, PC_0);
 
 void rise()