Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

src/dynamics.cpp

Committer:
calamaridudeman
Date:
2013-11-19
Revision:
25:8a34b8d6cc6e
Parent:
23:112c0be5a7f3
Child:
26:53b793b7a82f

File content as of revision 25:8a34b8d6cc6e:

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

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

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);
    }
    
    
}