Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Master.cpp@42:2b887cb6a98a, 2013-11-26 (annotated)

Committer:
calamaridudeman
Date:
Tue Nov 26 19:42:47 2013 +0000
Revision:
42:2b887cb6a98a
Parent:
41:65de628f701f 
testing invKin

Who changed what in which revision?

UserRevisionLine numberNew contents of line
calamaridudeman 23:112c0be5a7f3 1 #include "mbed.h"
calamaridudeman 37:bf257a0154db 2
calamaridudeman 37:bf257a0154db 3 #include "Master.hpp"
calamaridudeman 22:4d85d989af08 4
calamaridudeman 23:112c0be5a7f3 5 Serial pc(USBTX, USBRX);
calamaridudeman 23:112c0be5a7f3 6
calamaridudeman 37:bf257a0154db 7 QEI mEnc1(p25, p26, NC, 1200, QEI::X4_ENCODING); //hip
calamaridudeman 37:bf257a0154db 8 QEI mEnc2(p23, p24, NC, 1200, QEI::X4_ENCODING);//knee
calamaridudeman 37:bf257a0154db 9
calamaridudeman 38:922f2584bdfd 10 Motor m1(p15,p17,p18,p21,mEnc2);//hip p17 high is CCW
calamaridudeman 38:922f2584bdfd 11 Motor m2(p16,p19,p20,p22,mEnc1);//knee p19 high is CCW
calamaridudeman 25:8a34b8d6cc6e 12
calamaridudeman 38:922f2584bdfd 13 QEI bEnc1(p27, p28, p29, 500, QEI::X4_ENCODING); //track offset:-2.236814
calamaridudeman 38:922f2584bdfd 14 QEI bEnc2(p5, p6, p7, 500, QEI::X4_ENCODING); //body offset:1.770973
calamaridudeman 37:bf257a0154db 15
calamaridudeman 37:bf257a0154db 16 Kangaroo kankan(m1,m2,bEnc1,bEnc2);
calamaridudeman 37:bf257a0154db 17
calamaridudeman 38:922f2584bdfd 18 Ticker t;
calamaridudeman 38:922f2584bdfd 19
calamaridudeman 38:922f2584bdfd 20 AnalogIn aIn(p15);
calamaridudeman 38:922f2584bdfd 21 DigitalOut Forward(p17);
calamaridudeman 38:922f2584bdfd 22 DigitalOut Backward(p18);
calamaridudeman 38:922f2584bdfd 23 PwmOut pwmOut(p21);
calamaridudeman 38:922f2584bdfd 24
calamaridudeman 37:bf257a0154db 25 int main() {
calamaridudeman 42:2b887cb6a98a 26 while(1){
calamaridudeman 38:922f2584bdfd 27 //kankan.testEncoders(pc);
calamaridudeman 42:2b887cb6a98a 28 Point p1(0,-.3,0);
calamaridudeman 42:2b887cb6a98a 29 Joints motorset = invKinBody(p1);
calamaridudeman 42:2b887cb6a98a 30 pc.printf("%f, %f\n", motorset.t1, motorset.t2);
calamaridudeman 42:2b887cb6a98a 31 wait(.25);
calamaridudeman 42:2b887cb6a98a 32 }
calamaridudeman 42:2b887cb6a98a 33 /*
calamaridudeman 41:65de628f701f 34 kankan.start();
calamaridudeman 41:65de628f701f 35 wait(1);
calamaridudeman 42:2b887cb6a98a 36 //m1.setPos(-3.1415/6);
calamaridudeman 42:2b887cb6a98a 37 //m2.setPos(3.1415/6);
calamaridudeman 41:65de628f701f 38 //m1.setTorque(2);
calamaridudeman 41:65de628f701f 39
calamaridudeman 42:2b887cb6a98a 40 //kankan.setPoint(Point(0,-.3,0));
calamaridudeman 38:922f2584bdfd 41 wait(5);
calamaridudeman 38:922f2584bdfd 42 m1.stop();
calamaridudeman 41:65de628f701f 43 m2.stop();
calamaridudeman 42:2b887cb6a98a 44 */
calamaridudeman 38:922f2584bdfd 45 /*Forward=1;
calamaridudeman 38:922f2584bdfd 46 Backward=0;
calamaridudeman 38:922f2584bdfd 47 pwmOut.period_us(500);
calamaridudeman 38:922f2584bdfd 48
calamaridudeman 38:922f2584bdfd 49
calamaridudeman 38:922f2584bdfd 50 pwmOut.write(.15);
calamaridudeman 38:922f2584bdfd 51
calamaridudeman 38:922f2584bdfd 52 wait(5);
calamaridudeman 38:922f2584bdfd 53 pwmOut.write(0);
calamaridudeman 38:922f2584bdfd 54
calamaridudeman 38:922f2584bdfd 55 */
calamaridudeman 37:bf257a0154db 56
calamaridudeman 37:bf257a0154db 57 //kankan.zero();
calamaridudeman 22:4d85d989af08 58 }