Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

Diff: main.cpp

Revision:
7:8dcdb39efc0e
Parent:
6:9f9047ca4a89
Child:
8:c3af2a1c206c
diff -r 9f9047ca4a89 -r 8dcdb39efc0e main.cpp
--- a/main.cpp	Tue Mar 29 15:40:15 2016 +0000
+++ b/main.cpp	Tue Mar 29 16:04:03 2016 +0000
@@ -1,17 +1,19 @@
 #include "mbed.h"
 #include "EncoderMotor.hpp"
 #include "PIDController.hpp"
+#include "LerpSmoother.hpp"
 
 InterruptIn bt(USER_BUTTON);
 Serial pc(USBTX, USBRX);
 
 SpeedEncoder e(PA_0, PA_1);
+LerpSmoother speedSmoother(0.3f);
 //PIDController ec(0.2, 0.1, 0.01);
 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(PB_0, PC_1, PC_0, e, ec, ecRot);
+EncoderMotor m(PB_0, PC_1, PC_0, e, speedSmoother, ec, ecRot);
 //Motor m(PB_0, PC_1, PC_0);
 
 void rise()