Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

src/dynamics.cpp@25:8a34b8d6cc6e, 2013-11-19 (annotated)

Committer:
calamaridudeman
Date:
Tue Nov 19 20:42:01 2013 +0000
Revision:
25:8a34b8d6cc6e
Parent:
23:112c0be5a7f3
Child:
26:53b793b7a82f
modified master to start integrating motors

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 25:8a34b8d6cc6e 5 Kangaroo::Kangaroo(Motor M1, Motor M2, QEI e1, QEI e2):m1(M1),m2(M2),enc1(e1),enc2(e2){
calamaridudeman 25:8a34b8d6cc6e 6
calamaridudeman 25:8a34b8d6cc6e 7 }
calamaridudeman 25:8a34b8d6cc6e 8
calamaridudeman 25:8a34b8d6cc6e 9 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 25:8a34b8d6cc6e 25 }