Diff: main.cpp

Revision:

11:a0976d3b33c5

Parent:

9:31e850271c4a

Child:

12:8de7f5d56fe4

diff -r e9c106a8b0d0 -r a0976d3b33c5 main.cpp
--- a/main.cpp	Tue Apr 12 12:56:01 2016 +0000
+++ b/main.cpp	Tue Apr 12 13:05:12 2016 +0000
@@ -9,14 +9,13 @@
 MotorData mData = {PB_0, PC_1, PC_0};
 EncoderData encData = {PA_0, PA_1, 600};
 
-SpeedEncoder e(encData);
 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(mData, e, speedSmoother, ec, ecRot);
+EncoderMotor m(mData, encData, speedSmoother, ec, ecRot);
 //Motor m(PB_0, PC_1, PC_0);
 
 void rise()
@@ -42,7 +41,7 @@
     
     while(1)
     {
-        pc.printf("%d\n", e.getCount());
+        //pc.printf("%d\n", e.getCount());
         wait(0.1);
         //pc.scanf("%f %f %f", &ec.Kp, &ec.Ki, &ec.Kd);
         //pc.scanf("%f %f %f %f", &ecRot.Kp, &ecRot.Ki, &ecRot.Kd, &rot);