Carlo Collodi / kangaroo

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   QEI mbed

Master.cpp

Committer:
calamaridudeman
Date:
2013-11-24
Revision:
29:33c5c61f1068
Parent:
28:21773a6fb6df
Child:
30:18724a8fb2bf

File content as of revision 29:33c5c61f1068:

#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);
        wait(.25);
    }
}