Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Master.cpp@25:8a34b8d6cc6e, 2013-11-19 (annotated)

Committer:
calamaridudeman
Date:
Tue Nov 19 20:42:01 2013 +0000
Revision:
25:8a34b8d6cc6e
Parent:
24:8e7cc6a2e214
Child:
26:53b793b7a82f
modified master to start integrating motors

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 25:8a34b8d6cc6e 7 QEI mEnc1(p25, p26, NC, 1200, QEI::X4_ENCODING);
calamaridudeman 25:8a34b8d6cc6e 8 QEI mEnc2(p23, p24, NC, 1200, QEI::X4_ENCODING);
calamaridudeman 25:8a34b8d6cc6e 9
calamaridudeman 25:8a34b8d6cc6e 10 Motor m1(p15,p17,p18,p21,mEnc1);
calamaridudeman 25:8a34b8d6cc6e 11 Motor m2(p16,p19,p20,p22,mEnc2);
calamaridudeman 25:8a34b8d6cc6e 12
calamaridudeman 25:8a34b8d6cc6e 13 QEI bEnc1(p25, p26, NC, 1200, QEI::X4_ENCODING);//change pins!!!!!!!!!!!!!!!!!!!!!!!
calamaridudeman 25:8a34b8d6cc6e 14 QEI bEnc2(p25, p26, NC, 1200, QEI::X4_ENCODING);//these too
calamaridudeman 25:8a34b8d6cc6e 15
calamaridudeman 22:4d85d989af08 16 int main() {
calamaridudeman 22:4d85d989af08 17
calamaridudeman 23:112c0be5a7f3 18 Point p1(1,2,3);
calamaridudeman 23:112c0be5a7f3 19 Point p2(2,2,3);
calamaridudeman 23:112c0be5a7f3 20
calamaridudeman 23:112c0be5a7f3 21 Line l1(p1,p2);
calamaridudeman 23:112c0be5a7f3 22
calamaridudeman 23:112c0be5a7f3 23 Point p3(3,2,3);
calamaridudeman 23:112c0be5a7f3 24
calamaridudeman 23:112c0be5a7f3 25 Point bLine[3] = {p1,p2,p3};
calamaridudeman 23:112c0be5a7f3 26
calamaridudeman 23:112c0be5a7f3 27 BezCurve b(bLine, sizeof(bLine)/sizeof(Point));
calamaridudeman 23:112c0be5a7f3 28
calamaridudeman 23:112c0be5a7f3 29 b.setAdot(.025);
calamaridudeman 23:112c0be5a7f3 30 b.startCurve();
calamaridudeman 23:112c0be5a7f3 31
calamaridudeman 23:112c0be5a7f3 32 while(1){
calamaridudeman 23:112c0be5a7f3 33 pc.printf("%f\n",b.newPoint().x);
calamaridudeman 23:112c0be5a7f3 34 wait(2);
calamaridudeman 23:112c0be5a7f3 35 }
calamaridudeman 22:4d85d989af08 36 }