Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Master.cpp@26:53b793b7a82f, 2013-11-24 (annotated)

Committer:
calamaridudeman
Date:
Sun Nov 24 06:00:21 2013 +0000
Revision:
26:53b793b7a82f
Parent:
25:8a34b8d6cc6e
Child:
28:21773a6fb6df
ready to test sensors and code up to motors and sensors.  Still need path planning and higher-level control

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 26:53b793b7a82f 13 QEI bEnc1(p25, p26, p27, 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 26:53b793b7a82f 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 26:53b793b7a82f 21 kankan.testEncoders(pc);
calamaridudeman 23:112c0be5a7f3 22 wait(2);
calamaridudeman 23:112c0be5a7f3 23 }
calamaridudeman 22:4d85d989af08 24 }