Diff: Master.cpp

Revision:

26:53b793b7a82f

Parent:

25:8a34b8d6cc6e

Child:

28:21773a6fb6df

--- a/Master.cpp	Tue Nov 19 20:42:01 2013 +0000
+++ b/Master.cpp	Sun Nov 24 06:00:21 2013 +0000
@@ -4,33 +4,21 @@
 
 Serial pc(USBTX, USBRX);
 
-QEI mEnc1(p25, p26, NC, 1200, QEI::X4_ENCODING);
-QEI mEnc2(p23, p24, NC, 1200, QEI::X4_ENCODING);
+QEI mEnc1(p25, p26, NC, 1200, QEI::X4_ENCODING); //hip
+QEI mEnc2(p23, p24, NC, 1200, QEI::X4_ENCODING);//knee
 
-Motor m1(p15,p17,p18,p21,mEnc1);
-Motor m2(p16,p19,p20,p22,mEnc2);
+Motor m1(p15,p17,p18,p21,mEnc1);//hip
+Motor m2(p16,p19,p20,p22,mEnc2);//knee
 
-QEI bEnc1(p25, p26, NC, 1200, QEI::X4_ENCODING);//change pins!!!!!!!!!!!!!!!!!!!!!!!
-QEI bEnc2(p25, p26, NC, 1200, QEI::X4_ENCODING);//these too
+QEI bEnc1(p25, p26, p27, 1200, QEI::X4_ENCODING);//change pins!!!!!!!!!!!!!!!!!!!!!!!
+QEI bEnc2(p8, p9, p10, 1200, QEI::X4_ENCODING);//these too
+
+Kangaroo kankan(m1,m2,bEnc1,bEnc2);
 
 int main() {
-
-    Point p1(1,2,3);
-    Point p2(2,2,3);
-    
-    Line l1(p1,p2);
-    
-    Point p3(3,2,3);
-    
-    Point bLine[3] = {p1,p2,p3};
-    
-    BezCurve b(bLine, sizeof(bLine)/sizeof(Point));
-    
-    b.setAdot(.025);
-    b.startCurve();
     
     while(1){
-        pc.printf("%f\n",b.newPoint().x);
+        kankan.testEncoders(pc);
         wait(2);
     }
 }