Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

src/kangaroo.cpp@37:bf257a0154db, 2013-11-24 (annotated)

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

Who changed what in which revision?

UserRevisionLine numberNew contents of line
calamaridudeman 37:bf257a0154db 1 #include "mbed.h"
calamaridudeman 37:bf257a0154db 2 #include "include/kangaroo.hpp"
calamaridudeman 37:bf257a0154db 3
calamaridudeman 37:bf257a0154db 4
calamaridudeman 37:bf257a0154db 5 Kangaroo::Kangaroo(Motor &M1, Motor &M2, QEI &e1, QEI &e2):enc1(e1),enc2(e2),m1(M1),m2(M2),led1(LED1),led2(LED2),led3(LED3),led4(LED4){
calamaridudeman 37:bf257a0154db 6
calamaridudeman 37:bf257a0154db 7 }
calamaridudeman 37:bf257a0154db 8
calamaridudeman 37:bf257a0154db 9 void Kangaroo::zero(){
calamaridudeman 37:bf257a0154db 10 m1.setVel(-.002);//wait for the legs to go to stopping points
calamaridudeman 37:bf257a0154db 11 m2.setVel(-.002);
calamaridudeman 37:bf257a0154db 12 led4=1;
calamaridudeman 37:bf257a0154db 13 wait(1);
calamaridudeman 37:bf257a0154db 14
calamaridudeman 37:bf257a0154db 15 m1.zero();
calamaridudeman 37:bf257a0154db 16 m2.zero();
calamaridudeman 37:bf257a0154db 17
calamaridudeman 37:bf257a0154db 18 enc1.reset();
calamaridudeman 37:bf257a0154db 19 enc2.reset();
calamaridudeman 37:bf257a0154db 20 led2=1;
calamaridudeman 37:bf257a0154db 21 while(((enc1.getRevolutions()==0)||(enc2.getRevolutions()==0))){
calamaridudeman 37:bf257a0154db 22 wait(0.1);
calamaridudeman 37:bf257a0154db 23 }
calamaridudeman 37:bf257a0154db 24
calamaridudeman 37:bf257a0154db 25 led1=1;
calamaridudeman 37:bf257a0154db 26 led3=1;
calamaridudeman 37:bf257a0154db 27
calamaridudeman 37:bf257a0154db 28 }
calamaridudeman 37:bf257a0154db 29
calamaridudeman 37:bf257a0154db 30 void Kangaroo::testEncoders(Serial &pc){
calamaridudeman 37:bf257a0154db 31 //pc.printf("hello world\n");
calamaridudeman 37:bf257a0154db 32
calamaridudeman 37:bf257a0154db 33 //pc.printf("motor1: %i\n",m1.getPos());
calamaridudeman 37:bf257a0154db 34 pc.printf("clix1: %i, rots1: %i\n",enc1.getPulses(), enc1.getRevolutions());
calamaridudeman 37:bf257a0154db 35
calamaridudeman 37:bf257a0154db 36 //pc.printf("motor2: %i\n",);
calamaridudeman 37:bf257a0154db 37 pc.printf("clix2: %i, rots2: %i\n",enc2.getPulses(), enc2.getRevolutions());
calamaridudeman 37:bf257a0154db 38 }