Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Master.cpp

Committer:
calamaridudeman
Date:
2013-11-24
Revision:
28:21773a6fb6df
Parent:
26:53b793b7a82f
Child:
29:33c5c61f1068
Child:
35:a4e89e78d034

File content as of revision 28:21773a6fb6df:

#include "mbed.h"

#include "Master.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

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() {
    
    while(1){
        //kankan.testEncoders(pc);
        pc.printf("m1: %i, enc1:  %i\n",m1.getPos(), mEnc1.getPulses());
        wait(.5);
    }
}