Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Master.cpp

Committer:
calamaridudeman
Date:
2013-11-19
Revision:
25:8a34b8d6cc6e
Parent:
24:8e7cc6a2e214
Child:
26:53b793b7a82f

File content as of revision 25:8a34b8d6cc6e:

#include "mbed.h"

#include "Master.hpp"

Serial pc(USBTX, USBRX);

QEI mEnc1(p25, p26, NC, 1200, QEI::X4_ENCODING);
QEI mEnc2(p23, p24, NC, 1200, QEI::X4_ENCODING);

Motor m1(p15,p17,p18,p21,mEnc1);
Motor m2(p16,p19,p20,p22,mEnc2);

QEI bEnc1(p25, p26, NC, 1200, QEI::X4_ENCODING);//change pins!!!!!!!!!!!!!!!!!!!!!!!
QEI bEnc2(p25, p26, NC, 1200, QEI::X4_ENCODING);//these too

int main() {

    Point p1(1,2,3);
    Point p2(2,2,3);
    
    Line l1(p1,p2);
    
    Point p3(3,2,3);
    
    Point bLine[3] = {p1,p2,p3};
    
    BezCurve b(bLine, sizeof(bLine)/sizeof(Point));
    
    b.setAdot(.025);
    b.startCurve();
    
    while(1){
        pc.printf("%f\n",b.newPoint().x);
        wait(2);
    }
}