Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Master.cpp@37:bf257a0154db, 2013-11-24 (annotated)

Committer:
calamaridudeman
Date:
Sun Nov 24 20:38:59 2013 +0000
Revision:
37:bf257a0154db
Parent:
35:a4e89e78d034
Child:
38:922f2584bdfd
Child:
43:68faf056ed5c
integrated sams inverse kinematics code

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 37:bf257a0154db 10 Motor m1(p15,p17,p18,p21,mEnc1);//hip
calamaridudeman 37:bf257a0154db 11 Motor m2(p16,p19,p20,p22,mEnc2);//knee
calamaridudeman 25:8a34b8d6cc6e 12
calamaridudeman 37:bf257a0154db 13 QEI bEnc1(p27, p28, p29, 1200, QEI::X4_ENCODING); //track
calamaridudeman 37:bf257a0154db 14 QEI bEnc2(p8, p9, p10, 1200, QEI::X4_ENCODING); //body
calamaridudeman 37:bf257a0154db 15
calamaridudeman 37:bf257a0154db 16 Kangaroo kankan(m1,m2,bEnc1,bEnc2);
calamaridudeman 37:bf257a0154db 17
calamaridudeman 37:bf257a0154db 18 int main() {
calamaridudeman 23:112c0be5a7f3 19
calamaridudeman 23:112c0be5a7f3 20 while(1){
calamaridudeman 37:bf257a0154db 21 kankan.testEncoders(pc);
calamaridudeman 37:bf257a0154db 22 wait(.25);
calamaridudeman 23:112c0be5a7f3 23 }
calamaridudeman 37:bf257a0154db 24
calamaridudeman 37:bf257a0154db 25
calamaridudeman 37:bf257a0154db 26 //kankan.zero();
calamaridudeman 22:4d85d989af08 27 }