Carlo Collodi
/
kangaroo
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Diff: src/dynamics.cpp
- Revision:
- 25:8a34b8d6cc6e
- Parent:
- 23:112c0be5a7f3
- Child:
- 26:53b793b7a82f
diff -r 8e7cc6a2e214 -r 8a34b8d6cc6e src/dynamics.cpp
--- a/src/dynamics.cpp Tue Nov 19 19:12:42 2013 +0000
+++ b/src/dynamics.cpp Tue Nov 19 20:42:01 2013 +0000
@@ -1,3 +1,25 @@
#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);
+ }
+
+
+}
\ No newline at end of file
