Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

src/dynamics.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 21:a9569c7b4379 1 #include "mbed.h"
calamaridudeman 23:112c0be5a7f3 2 #include "include/dynamics.hpp"
calamaridudeman 25:8a34b8d6cc6e 3 #include "include/motor.hpp"
calamaridudeman 16:c21df8c0c458 4
calamaridudeman 28:21773a6fb6df 5 Kangaroo::Kangaroo(Motor &M1, Motor &M2, QEI &e1, QEI &e2):enc1(e1),enc2(e2),m1(M1),m2(M2){
calamaridudeman 25:8a34b8d6cc6e 6
calamaridudeman 25:8a34b8d6cc6e 7 }
calamaridudeman 25:8a34b8d6cc6e 8
calamaridudeman 26:53b793b7a82f 9 void Kangaroo::zero(){
calamaridudeman 25:8a34b8d6cc6e 10 m1.setVel(-.002);//wait for the legs to go to stopping points
calamaridudeman 25:8a34b8d6cc6e 11 m2.setVel(-.002);
calamaridudeman 25:8a34b8d6cc6e 12 wait(1);
calamaridudeman 25:8a34b8d6cc6e 13
calamaridudeman 25:8a34b8d6cc6e 14 m1.zero();
calamaridudeman 25:8a34b8d6cc6e 15 m2.zero();
calamaridudeman 25:8a34b8d6cc6e 16
calamaridudeman 25:8a34b8d6cc6e 17 enc1.reset();
calamaridudeman 25:8a34b8d6cc6e 18 enc2.reset();
calamaridudeman 25:8a34b8d6cc6e 19
calamaridudeman 25:8a34b8d6cc6e 20 while((enc1.getRevolutions()==0)&&(enc2.getRevolutions()==0)){
calamaridudeman 25:8a34b8d6cc6e 21 wait(0.1);
calamaridudeman 25:8a34b8d6cc6e 22 }
calamaridudeman 25:8a34b8d6cc6e 23
calamaridudeman 25:8a34b8d6cc6e 24
calamaridudeman 26:53b793b7a82f 25 }
calamaridudeman 26:53b793b7a82f 26
calamaridudeman 28:21773a6fb6df 27 void Kangaroo::testEncoders(Serial &pc){
calamaridudeman 28:21773a6fb6df 28 //pc.printf("hello world\n");
calamaridudeman 26:53b793b7a82f 29
calamaridudeman 29:33c5c61f1068 30 //pc.printf("motor1: %i\n",m1.getPos());
calamaridudeman 28:21773a6fb6df 31 pc.printf("clix1: %i, rots1: %i\n",enc1.getPulses(), enc1.getRevolutions());
calamaridudeman 28:21773a6fb6df 32
calamaridudeman 29:33c5c61f1068 33 //pc.printf("motor2: %i\n",);
calamaridudeman 28:21773a6fb6df 34 pc.printf("clix2: %i, rots2: %i\n",enc2.getPulses(), enc2.getRevolutions());
calamaridudeman 25:8a34b8d6cc6e 35 }