Carlo Collodi
/
kangaroo
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Diff: src/dynamics.cpp
- Revision:
- 28:21773a6fb6df
- Parent:
- 26:53b793b7a82f
- Child:
- 29:33c5c61f1068
- Child:
- 35:a4e89e78d034
--- a/src/dynamics.cpp Sun Nov 24 06:02:47 2013 +0000
+++ b/src/dynamics.cpp Sun Nov 24 19:04:01 2013 +0000
@@ -2,7 +2,7 @@
#include "include/dynamics.hpp"
#include "include/motor.hpp"
-Kangaroo::Kangaroo(Motor M1, Motor M2, QEI e1, QEI e2):enc1(e1),enc2(e2),m1(M1),m2(M2){
+Kangaroo::Kangaroo(Motor &M1, Motor &M2, QEI &e1, QEI &e2):enc1(e1),enc2(e2),m1(M1),m2(M2){
}
@@ -24,11 +24,12 @@
}
-void Kangaroo::testEncoders(Serial pc){
- pc.printf("hello world\n");
- /*
- pc.printf("clix: %i, rots: %i\n",enc1.getPulses(), enc1.getRevolutions());
- */
+void Kangaroo::testEncoders(Serial &pc){
+ //pc.printf("hello world\n");
- //pc.printf("clix: %i, rots: %i\n",enc2.getPulses(), enc2.getRevolutions());
+ pc.printf("motor1: %i\n",m1.getPos());
+ pc.printf("clix1: %i, rots1: %i\n",enc1.getPulses(), enc1.getRevolutions());
+
+ pc.printf("motor2: %i\n",m2.getPos());
+ pc.printf("clix2: %i, rots2: %i\n",enc2.getPulses(), enc2.getRevolutions());
}
\ No newline at end of file
