Rauno U
/
Miisu
Six crescent shaped legs
Diff: main.cpp
- Revision:
- 30:476ab400d765
- Parent:
- 29:f905e66e1a6f
- Child:
- 31:8d8d31b6d8cd
diff -r f905e66e1a6f -r 476ab400d765 main.cpp --- a/main.cpp Tue May 17 16:49:13 2016 +0000 +++ b/main.cpp Tue May 17 17:05:38 2016 +0000 @@ -3,7 +3,8 @@ #include "SyncGroup.hpp" InterruptIn bt(USER_BUTTON); -Serial pc(SERIAL_TX, SERIAL_RX); +Serial pc(PA_0, PA_1); //RF +//Serial pc(SERIAL_TX, SERIAL_RX); //Serial pc(USBTX, USBRX); //PIDData speedPIDData = {0.3f, 2.0f, 0.02f}; @@ -48,12 +49,12 @@ EncoderMotor m5(m5Data, enc5Data, speedPIDData, turnPIDData, NULL); // 6 -//MotorData m6Data = {PB_3, PA_10, PA_2}; //PA_2 = TX; PA_3 (m6-fault) = RX -//EncoderData enc6Data = {PB_5, PB_4, 102.083 * 64}; -//EncoderMotor m6(m6Data, enc6Data, speedPIDData, turnPIDData, NULL); +MotorData m6Data = {PB_3, PA_10, PA_2}; //PA_2 = TX; PA_3 (m6-fault) = RX +EncoderData enc6Data = {PB_5, PB_4, 102.083 * 64}; +EncoderMotor m6(m6Data, enc6Data, speedPIDData, turnPIDData, NULL); -const int MOTORS = 5; -EncoderMotor* ms[MOTORS] = {&m1, &m2, &m3, &m4, &m5};//,m6}; +const int MOTORS = 6; +EncoderMotor* ms[MOTORS] = {&m1, &m2, &m3, &m4, &m5, &m6}; volatile int active = 0; Ticker ticker;