Carlo Collodi / kangaroo

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   QEI mbed

Master.cpp@29:33c5c61f1068, 2013-11-24 (annotated)

Committer:
calamaridudeman
Date:
Sun Nov 24 19:21:47 2013 +0000
Revision:
29:33c5c61f1068
Parent:
28:21773a6fb6df
Child:
30:18724a8fb2bf
Added & everywhere (including fields!) to ensure no copying of encoders (which breaks the interrupts).  All motor encoders reporting properly now

Who changed what in which revision?

UserRevisionLine numberNew contents of line
calamaridudeman 23:112c0be5a7f3 1 #include "mbed.h"
calamaridudeman 25:8a34b8d6cc6e 2
calamaridudeman 25:8a34b8d6cc6e 3 #include "Master.hpp"
calamaridudeman 22:4d85d989af08 4
calamaridudeman 23:112c0be5a7f3 5 Serial pc(USBTX, USBRX);
calamaridudeman 23:112c0be5a7f3 6
calamaridudeman 26:53b793b7a82f 7 QEI mEnc1(p25, p26, NC, 1200, QEI::X4_ENCODING); //hip
calamaridudeman 26:53b793b7a82f 8 QEI mEnc2(p23, p24, NC, 1200, QEI::X4_ENCODING);//knee
calamaridudeman 25:8a34b8d6cc6e 9
calamaridudeman 26:53b793b7a82f 10 Motor m1(p15,p17,p18,p21,mEnc1);//hip
calamaridudeman 26:53b793b7a82f 11 Motor m2(p16,p19,p20,p22,mEnc2);//knee
calamaridudeman 25:8a34b8d6cc6e 12
calamaridudeman 28:21773a6fb6df 13 QEI bEnc1(p27, p28, p29, 1200, QEI::X4_ENCODING);//change pins!!!!!!!!!!!!!!!!!!!!!!!
calamaridudeman 26:53b793b7a82f 14 QEI bEnc2(p8, p9, p10, 1200, QEI::X4_ENCODING);//these too
calamaridudeman 26:53b793b7a82f 15
calamaridudeman 29:33c5c61f1068 16 Kangaroo kankan(m1,m2,bEnc1,bEnc2);
calamaridudeman 25:8a34b8d6cc6e 17
calamaridudeman 22:4d85d989af08 18 int main() {
calamaridudeman 23:112c0be5a7f3 19
calamaridudeman 23:112c0be5a7f3 20 while(1){
calamaridudeman 29:33c5c61f1068 21 kankan.testEncoders(pc);
calamaridudeman 29:33c5c61f1068 22 wait(.25);
calamaridudeman 23:112c0be5a7f3 23 }
calamaridudeman 22:4d85d989af08 24 }