Rauno U
/
Miisu
Six crescent shaped legs
Diff: main.cpp
- Revision:
- 41:8ce8a3a47a92
- Parent:
- 40:01a97bc4ef7a
- Child:
- 42:7fa713d5d1af
diff -r 01a97bc4ef7a -r 8ce8a3a47a92 main.cpp --- a/main.cpp Wed Jun 15 15:09:37 2016 +0000 +++ b/main.cpp Wed Jun 15 16:00:48 2016 +0000 @@ -1,6 +1,5 @@ #include "mbed.h" #include "EncoderMotor.hpp" -#include "SyncGroup.hpp" InterruptIn bt(USER_BUTTON); Serial pc(PA_0, PA_1); //RF @@ -11,7 +10,6 @@ //PIDData turnPIDData = {5.0f, 0.1f, 0.04f}; PIDData speedPIDData = {0.5f, 0.0f, 0.0f}; PIDData turnPIDData = {30.0f, 0.01f, 1.0f}; -SyncGroup sync; /* PWM timer channel @@ -26,32 +24,32 @@ // 1 MotorData m1Data = {PB_0, PA_4, PC_0}; //PWM, Dir1, Dir2 EncoderData enc1Data = {PC_3, PC_1, 102.083 * 64}; //EncA, encB // https://www.pololu.com/product/2826 -EncoderMotor m1(m1Data, enc1Data, speedPIDData, turnPIDData, NULL); +EncoderMotor m1(m1Data, enc1Data, speedPIDData, turnPIDData); DigitalIn s1(PA_8); // 2 MotorData m2Data = {PB_7, PA_6, PB_9}; //PB7 = fault dir2 oli enne PC13 EncoderData enc2Data = {PC_14, PC_15, 102.083 * 64}; -EncoderMotor m2(m2Data, enc2Data, speedPIDData, turnPIDData, NULL); +EncoderMotor m2(m2Data, enc2Data, speedPIDData, turnPIDData); DigitalIn s2(PH_1); // 3 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); +EncoderMotor m3(m3Data, enc3Data, speedPIDData, turnPIDData); DigitalIn s3(PA_14); // 4 MotorData m4Data = {PB_8, PC_6, PC_9}; EncoderData enc4Data = {PC_5, PA_12, 102.083 * 64}; -EncoderMotor m4(m4Data, enc4Data, speedPIDData, turnPIDData, NULL); +EncoderMotor m4(m4Data, enc4Data, speedPIDData, turnPIDData); DigitalIn s4(PA_11); // 5 MotorData m5Data = {PB_15, PB_1, PB_2}; EncoderData enc5Data = {PC_7, PB_6, 102.083 * 64}; //B oli varem PB_13, A oli varem PB_14 -EncoderMotor m5(m5Data, enc5Data, speedPIDData, turnPIDData, NULL); +EncoderMotor m5(m5Data, enc5Data, speedPIDData, turnPIDData); DigitalIn s5(PC_4); // 6 MotorData m6Data = {PB_3, PA_7, PB_5}; //PA_2 = TX; PA_3 (m6-fault) = RX DIR2 oli enne PA2 EncoderData enc6Data = {PB_4, PA_10, 102.083 * 64}; -EncoderMotor m6(m6Data, enc6Data, speedPIDData, turnPIDData, NULL); +EncoderMotor m6(m6Data, enc6Data, speedPIDData, turnPIDData); DigitalIn s6(PB_10); const int MOTORS = 6;