Rauno U
/
Miisu
Six crescent shaped legs
Diff: main.cpp
- Revision:
- 26:c865244ca3cf
- Parent:
- 25:a8bb69e99d6b
- Child:
- 27:24a9ac72fe92
diff -r a8bb69e99d6b -r c865244ca3cf main.cpp --- a/main.cpp Tue Apr 26 12:22:05 2016 +0000 +++ b/main.cpp Thu May 12 17:00:10 2016 +0000 @@ -3,19 +3,48 @@ #include "SyncGroup.hpp" InterruptIn bt(USER_BUTTON); -Serial pc(USBTX, USBRX); +Serial pc(SERIAL_TX, SERIAL_RX); +//Serial pc(USBTX, USBRX); //PIDData speedPIDData = {0.3f, 2.0f, 0.02f}; //PIDData turnPIDData = {5.0f, 0.1f, 0.04f}; PIDData speedPIDData = {0.5f, 0.0f, 0.0f}; -PIDData turnPIDData = {30.0f, 0.01f, 1.f}; +PIDData turnPIDData = {30.0f, 0.01f, 1.0f}; SyncGroup sync; + +// 1 +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); + +// 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); + +// 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); -MotorData mData = {PB_0, PC_0, PC_1}; -//EncoderData encData = {PA_0, PA_1, 100 * 64}; -EncoderData encData = {PA_0, PA_1, 102.083 * 64}; // https://www.pololu.com/product/2826 +// 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 m(mData, encData, speedPIDData, turnPIDData, &sync); +// 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); + +// 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); + +//const int mitu = 5; + +//EncoderMotor m[mitu] = {m1,m2,m3,m4,m5};//,m6}; //SpeedEncoder s(encData); @@ -30,21 +59,21 @@ void rise() { //pc.printf("rise\n"); - m.drive(0); + m1.drive(0); } void fall() { //pc.printf("fall\n"); - m.drive(0.25); + m1.drive(0.25); } int main() { + printf("MAIN\n"); bt.rise(&rise); bt.fall(&fall); - - m.setup(); + m1.setup(); float rot, speed; //m.rotate(1.f, 0.5); @@ -56,13 +85,12 @@ //scanf("%f", &turn); //m.rotate(turn, 0.2); scanf("%f %f", &rot, &speed); - m.rotate(rot, speed); + m1.rotate(rot, speed); //m.drive(speed); //printf("%f %f\n", s.getTurnSpeed(), m.getSetSpeed()); //printf("%f %f\n", m.s, m.getSetSpeed()); - - printf("%ld %f %f\n", m.getEncoder().getCount(), m.getEncoder().getTurn(), m.getSetTurn()); + printf("%ld %f %f\n", m1.getEncoder().getCount(), m1.getEncoder().getTurn(), m1.getSetTurn()); //printf("%f %f\n", m.getEncoder().getTurn(), m.getSetTurn()); wait(1.f / 60); } -} \ No newline at end of file +} \ No newline at end of file