Rauno U
/
Miisu
Six crescent shaped legs
Diff: main.cpp
- Revision:
- 32:9db688917ca3
- Parent:
- 31:8d8d31b6d8cd
- Child:
- 33:ad2ebe22f8dd
diff -r 8d8d31b6d8cd -r 9db688917ca3 main.cpp --- a/main.cpp Tue May 17 17:07:05 2016 +0000 +++ b/main.cpp Mon May 23 17:15:03 2016 +0000 @@ -27,36 +27,36 @@ MotorData m1Data = {PB_0, PC_0, PC_3}; //PWM, Dir1, Dir2 EncoderData enc1Data = {PC_1, PA_4, 102.083 * 64}; //EncA, encB // https://www.pololu.com/product/2826 EncoderMotor m1(m1Data, enc1Data, speedPIDData, turnPIDData, NULL); - +DigitalIn s1(PA_8); // 2 MotorData m2Data = {PB_7, PC_14, PC_13}; //PB7 = fault EncoderData enc2Data = {PC_15, PH_0, 102.083 * 64}; EncoderMotor m2(m2Data, enc2Data, speedPIDData, turnPIDData, NULL); - +DigitalIn s2(PH_1); // 3 MotorData m3Data = {PA_15, PC_11, PC_10}; EncoderData enc3Data = {PC_12, PA_13, 102.083 * 64}; EncoderMotor m3(m3Data, enc3Data, speedPIDData, turnPIDData, NULL); - +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); - +DigitalIn s4(PA_11); // 5 MotorData m5Data = {PB_15, PB_1, PB_2}; EncoderData enc5Data = {PB_14, PB_13, 102.083 * 64}; EncoderMotor m5(m5Data, enc5Data, speedPIDData, turnPIDData, NULL); - +DigitalIn s5(PC_4); // 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); - +DigitalIn s6(PB_10); const int MOTORS = 6; EncoderMotor* ms[MOTORS] = {&m1, &m2, &m3, &m4, &m5, &m6}; volatile int active = 0; - +DigitalIn ss[MOTORS] = {s1, s2, s3, s4, s5, s6}; Ticker ticker; void rise() @@ -94,14 +94,21 @@ while(1) { /*int oldactive = active; - pc.scanf("%d", &active); - active--; + pc.scanf("%d", &active);//, speed); + //active--; ms[oldactive]->drive(0); - ms[active]->drive(0.25);*/ - + ms[active]->drive(0.25); + *//* + //info enkoodritelt for (int i = 0; i < MOTORS; i++) pc.printf("%ld ", ms[i]->encoder.getCount()); pc.printf("\n"); + */ + //info IRidelt + for (int i = 0; i < MOTORS; i++) + pc.printf("%d ", ss[i].read()); + pc.printf("\n"); + //pc.printf("%d", active); //pc.scanf("%f", &turn);