File content as of revision 43:68faf056ed5c:

#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,mEnc2);//hip p17 high is CCW
Motor m2(p16,p19,p20,p22,mEnc1);//knee p19 high is CCW

QEI bEnc1(p27, p28, p29, 500, QEI::X4_ENCODING);  //track  offset:-2.236814
QEI bEnc2(p5, p6, p7, 500, QEI::X4_ENCODING); //body   offset:1.770973

Kangaroo kankan(m1,m2,bEnc1,bEnc2);

Ticker t;

AnalogIn aIn(p15);
        DigitalOut Forward(p17);
        DigitalOut Backward(p18);
        PwmOut pwmOut(p21);

int main() {

        Point p1(0,-.1,0);
        Point p2(0,-.6,0);
        Point p3(0,-.1,0);
        Point p[3]={p1, p2, p3};
        BezCurve curve(p, 3);
        
        curve.startCurve();
        m1.setTorque(1);
        m2.setPos(0);        
        kankan.start();
        wait(3);
        
    /*while(!curve.isDone()){
        //kankan.testEncoders(pc);
        curve.incrementAlpha();
        Point end = curve.getPoint();
        
        Joints motorset = invKinBody(end);
        //pc.printf("%f, %f, %f, %f\n", motorset.t1, motorset.t2, end.x, end.y);
        
        m1.setPos(motorset.t1);
        m2.setPos(motorset.t2);
        
        wait(.05);        
    }
    */
    
    /*
    kankan.start();
    wait(1);
    //m1.setPos(-3.1415/6);
    //m2.setPos(3.1415/6);
    //m1.setTorque(2);
    
    //kankan.setPoint(Point(0,-.3,0));
    wait(5);
    */
    m1.stop();
    m2.stop();
    
    /*Forward=1;
        Backward=0;
            pwmOut.period_us(500);

    
    pwmOut.write(.15);
    
    wait(5);
    pwmOut.write(0);
    
    */
    
    //kankan.zero();
}