Diff: Master.cpp

Revision:

35:a4e89e78d034

Parent:

28:21773a6fb6df

Child:

37:bf257a0154db

--- a/Master.cpp	Sun Nov 24 19:04:01 2013 +0000
+++ b/Master.cpp	Sun Nov 24 20:18:17 2013 +0000
@@ -1,25 +1,26 @@
 #include "mbed.h"
-
-#include "Master.hpp"
+#include "include/zgeom.hpp"
 
 Serial pc(USBTX, USBRX);
 
-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);//hip
-Motor m2(p16,p19,p20,p22,mEnc2);//knee
+int main() {
 
-QEI bEnc1(p27, p28, p29, 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){
-        //kankan.testEncoders(pc);
-        pc.printf("m1: %i, enc1:  %i\n",m1.getPos(), mEnc1.getPulses());
-        wait(.5);
+        pc.printf("%f\n",b.newPoint().x);
+        wait(2);
     }
 }