Diff: main.cpp

Revision:

8:c3af2a1c206c

Parent:

7:8dcdb39efc0e

Child:

9:31e850271c4a

diff -r 8dcdb39efc0e -r c3af2a1c206c main.cpp
--- a/main.cpp	Tue Mar 29 16:04:03 2016 +0000
+++ b/main.cpp	Tue Apr 12 12:45:43 2016 +0000
@@ -6,7 +6,9 @@
 InterruptIn bt(USER_BUTTON);
 Serial pc(USBTX, USBRX);
 
-SpeedEncoder e(PA_0, PA_1);
+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);
@@ -33,17 +35,18 @@
     bt.rise(&rise);
     bt.fall(&fall);
     
-    m.setup();
+    //m.setup();
     
     float rot;
     
     while(1)
     {
-        //pc.printf("%d %f %f\n", e.getCount(), m.speed, m.out);
-        //wait(0.1);
+        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);
-        pc.scanf("%f", &rot);
-        m.rotate(rot);
+        
+        //pc.scanf("%f", &rot);
+        //m.rotate(rot);
     }
 }
\ No newline at end of file