Diff: Master.cpp

Revision:

52:b168d1194819

Parent:

44:3566c5699ba6

--- a/Master.cpp	Wed Nov 27 02:51:39 2013 +0000
+++ b/Master.cpp	Mon Dec 02 04:29:58 2013 +0000
@@ -5,23 +5,16 @@
 Serial pc(USBTX, USBRX);
 
 QEI mEnc1(p25, p26, NC, 1200, QEI::X4_ENCODING); //hip
-QEI mEnc2(p23, p24, NC, 1200, QEI::X4_ENCODING);//knee
+QEI mEnc2(p23, p24, NC, 1200, QEI::X4_ENCODING); //knee
 
 Motor m1(p15,p17,p18,p21,mEnc2);//hip p17 high is CCW
 Motor m2(p16,p19,p20,p22,mEnc1);//knee p19 high is CCW
 
-QEI bEnc1(p27, p28, p29, 500, QEI::X4_ENCODING);  //track  offset:-2.236814
-QEI bEnc2(p5, p6, p7, 500, QEI::X4_ENCODING); //body   offset:1.770973
+QEI bEnc1(p27, p28, p29, 500, QEI::X4_ENCODING);  //track  offset: -2.236814
+QEI bEnc2(p5, p6, p7, 500, QEI::X4_ENCODING); //body   offset: 1.770973
 
 Kangaroo kankan(m1,m2,bEnc1,bEnc2);
 
-Ticker t;
-
-AnalogIn aIn(p15);
-        DigitalOut Forward(p17);
-        DigitalOut Backward(p18);
-        PwmOut pwmOut(p21);
-
 int main() {
 
         Point p1(0,-.1,0);
@@ -63,18 +56,5 @@
     */
     m1.stop();
     m2.stop();
-    
-    /*Forward=1;
-        Backward=0;
-            pwmOut.period_us(500);
-
-    
-    pwmOut.write(.15);
-    
-    wait(5);
-    pwmOut.write(0);
-    
-    */
-    
-    //kankan.zero();
+        
 }