Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Diff: Master.cpp

Revision:
42:2b887cb6a98a
Parent:
41:65de628f701f
--- a/Master.cpp	Tue Nov 26 19:29:34 2013 +0000
+++ b/Master.cpp	Tue Nov 26 19:42:47 2013 +0000
@@ -23,24 +23,25 @@
         PwmOut pwmOut(p21);
 
 int main() {
-    
-    /*while(1){
+    while(1){
         //kankan.testEncoders(pc);
-        pc.printf("%f\n", kankan.getAngle());
-        wait(.25);
-    }*/
-    
+        Point p1(0,-.3,0);
+        Joints motorset = invKinBody(p1);
+        pc.printf("%f, %f\n", motorset.t1, motorset.t2);
+        wait(.25);        
+    }
+    /*
     kankan.start();
     wait(1);
-    m1.setPos(-3.1415/6);
-    m2.setPos(3.1415/6);
+    //m1.setPos(-3.1415/6);
+    //m2.setPos(3.1415/6);
     //m1.setTorque(2);
     
-    //kankan.setPoint(Point(0,0));
+    //kankan.setPoint(Point(0,-.3,0));
     wait(5);
     m1.stop();
     m2.stop();
-    
+    */
     /*Forward=1;
         Backward=0;
             pwmOut.period_us(500);