Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

src/dynamics.cpp

Committer:
calamaridudeman
Date:
2013-11-24
Revision:
26:53b793b7a82f
Parent:
25:8a34b8d6cc6e
Child:
28:21773a6fb6df

File content as of revision 26:53b793b7a82f:

#include "mbed.h"
#include "include/dynamics.hpp"
#include "include/motor.hpp"

Kangaroo::Kangaroo(Motor M1, Motor M2, QEI e1, QEI e2):enc1(e1),enc2(e2),m1(M1),m2(M2){
    
}

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

void Kangaroo::testEncoders(Serial pc){
    pc.printf("hello world\n");
    /*
    pc.printf("clix:  %i, rots: %i\n",enc1.getPulses(), enc1.getRevolutions());
    */
    
    //pc.printf("clix:  %i, rots: %i\n",enc2.getPulses(), enc2.getRevolutions());
}