Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

src/kangaroo.cpp

Committer:
calamaridudeman
Date:
2013-11-24
Revision:
30:18724a8fb2bf
Child:
38:922f2584bdfd
Child:
43:68faf056ed5c

File content as of revision 30:18724a8fb2bf:

#include "mbed.h"
#include "include/kangaroo.hpp"


Kangaroo::Kangaroo(Motor &M1, Motor &M2, QEI &e1, QEI &e2):enc1(e1),enc2(e2),m1(M1),m2(M2),led1(LED1),led2(LED2),led3(LED3),led4(LED4){

}

void Kangaroo::zero(){
    m1.setVel(-.002);//wait for the legs to go to stopping points
    m2.setVel(-.002);
    led4=1;
    wait(1);
    
    m1.zero();
    m2.zero();
    
    enc1.reset();
    enc2.reset();
    led2=1;
    while(((enc1.getRevolutions()==0)||(enc2.getRevolutions()==0))){
        wait(0.1);
    }
    
    led1=1;
    led3=1;
    
}

void Kangaroo::testEncoders(Serial &pc){
    //pc.printf("hello world\n");
    
    //pc.printf("motor1:  %i\n",m1.getPos());
    pc.printf("clix1:  %i, rots1: %i\n",enc1.getPulses(), enc1.getRevolutions());
    
    //pc.printf("motor2:  %i\n",);
    pc.printf("clix2:  %i, rots2: %i\n",enc2.getPulses(), enc2.getRevolutions());
}