Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Master.cpp@41:65de628f701f, 2013-11-26 (annotated)

Committer:
calamaridudeman
Date:
Tue Nov 26 19:29:34 2013 +0000
Revision:
41:65de628f701f
Parent:
38:922f2584bdfd
Child:
42:2b887cb6a98a
Just fiddling with values

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 23:112c0be5a7f3 26
calamaridudeman 38:922f2584bdfd 27 /*while(1){
calamaridudeman 38:922f2584bdfd 28 //kankan.testEncoders(pc);
calamaridudeman 38:922f2584bdfd 29 pc.printf("%f\n", kankan.getAngle());
calamaridudeman 37:bf257a0154db 30 wait(.25);
calamaridudeman 38:922f2584bdfd 31 }*/
calamaridudeman 38:922f2584bdfd 32
calamaridudeman 41:65de628f701f 33 kankan.start();
calamaridudeman 41:65de628f701f 34 wait(1);
calamaridudeman 41:65de628f701f 35 m1.setPos(-3.1415/6);
calamaridudeman 41:65de628f701f 36 m2.setPos(3.1415/6);
calamaridudeman 41:65de628f701f 37 //m1.setTorque(2);
calamaridudeman 41:65de628f701f 38
calamaridudeman 41:65de628f701f 39 //kankan.setPoint(Point(0,0));
calamaridudeman 38:922f2584bdfd 40 wait(5);
calamaridudeman 38:922f2584bdfd 41 m1.stop();
calamaridudeman 41:65de628f701f 42 m2.stop();
calamaridudeman 37:bf257a0154db 43
calamaridudeman 38:922f2584bdfd 44 /*Forward=1;
calamaridudeman 38:922f2584bdfd 45 Backward=0;
calamaridudeman 38:922f2584bdfd 46 pwmOut.period_us(500);
calamaridudeman 38:922f2584bdfd 47
calamaridudeman 38:922f2584bdfd 48
calamaridudeman 38:922f2584bdfd 49 pwmOut.write(.15);
calamaridudeman 38:922f2584bdfd 50
calamaridudeman 38:922f2584bdfd 51 wait(5);
calamaridudeman 38:922f2584bdfd 52 pwmOut.write(0);
calamaridudeman 38:922f2584bdfd 53
calamaridudeman 38:922f2584bdfd 54 */
calamaridudeman 37:bf257a0154db 55
calamaridudeman 37:bf257a0154db 56 //kankan.zero();
calamaridudeman 22:4d85d989af08 57 }