Diff: Master.cpp

Revision:

37:bf257a0154db

Parent:

35:a4e89e78d034

Child:

38:922f2584bdfd

Child:

43:68faf056ed5c

--- a/Master.cpp	Sun Nov 24 20:18:17 2013 +0000
+++ b/Master.cpp	Sun Nov 24 20:38:59 2013 +0000
@@ -1,26 +1,27 @@
 #include "mbed.h"
-#include "include/zgeom.hpp"
+
+#include "Master.hpp"
 
 Serial pc(USBTX, USBRX);
 
-int main() {
+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
 
-    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();
+QEI bEnc1(p27, p28, p29, 1200, QEI::X4_ENCODING);  //track
+QEI bEnc2(p8, p9, p10, 1200, QEI::X4_ENCODING); //body
+
+Kangaroo kankan(m1,m2,bEnc1,bEnc2);
+
+int main() {
     
     while(1){
-        pc.printf("%f\n",b.newPoint().x);
-        wait(2);
+        kankan.testEncoders(pc);
+        wait(.25);
     }
+    
+    
+    //kankan.zero();
 }