Revision 30:18724a8fb2bf, committed 2013-11-24

Comitter:

calamaridudeman

Date:

Sun Nov 24 19:52:28 2013 +0000

Parent:

29:33c5c61f1068

Child:

31:d079a9d70407

Commit message:

encoders are at least all reporting correctly. Kangaroo now houses the kangaroo class, leaves room in dynamics for inverse kinematics etc.

Changed in this revision

--- a/Master.cpp	Sun Nov 24 19:21:47 2013 +0000
+++ b/Master.cpp	Sun Nov 24 19:52:28 2013 +0000
@@ -10,8 +10,8 @@
 Motor m1(p15,p17,p18,p21,mEnc1);//hip
 Motor m2(p16,p19,p20,p22,mEnc2);//knee
 
-QEI bEnc1(p27, p28, p29, 1200, QEI::X4_ENCODING);//change pins!!!!!!!!!!!!!!!!!!!!!!!
-QEI bEnc2(p8, p9, p10, 1200, QEI::X4_ENCODING);//these too
+QEI bEnc1(p27, p28, p29, 1200, QEI::X4_ENCODING);  //track
+QEI bEnc2(p8, p9, p10, 1200, QEI::X4_ENCODING); //body
 
 Kangaroo kankan(m1,m2,bEnc1,bEnc2);
 
@@ -21,4 +21,7 @@
         kankan.testEncoders(pc);
         wait(.25);
     }
+    
+    
+    //kankan.zero();
 }

--- a/Master.hpp	Sun Nov 24 19:21:47 2013 +0000
+++ b/Master.hpp	Sun Nov 24 19:52:28 2013 +0000
@@ -4,6 +4,7 @@
 #include "include/geom.hpp"
 #include "include/motor.hpp"
 #include "include/dynamics.hpp"
+#include "include/kangaroo.hpp"
 
 #ifndef MASTER_HPP
 #define MASTER_HPP

--- a/include/dynamics.hpp	Sun Nov 24 19:21:47 2013 +0000
+++ b/include/dynamics.hpp	Sun Nov 24 19:52:28 2013 +0000
@@ -11,22 +11,5 @@
 #define l3 1 //leg length
 #define l4 1 //foot length
 
-class Kangaroo {
-
-    public:
-        Kangaroo(Motor &M1, Motor &M2, QEI &e1, QEI &e2);
-        void zero();
-        void start();
-        void run();
-        void stop();
-        void updatePose();
-        void testEncoders(Serial &pc);
-        
-    private:
-        QEI& enc1;
-        QEI& enc2;
-        Motor& m1;
-        Motor& m2;
-};
 
 #endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/kangaroo.hpp	Sun Nov 24 19:52:28 2013 +0000
@@ -0,0 +1,29 @@
+#include "mbed.h"
+#include "include/dynamics.hpp"
+#include "include/motor.hpp"
+
+#ifndef KANGAROO_HPP
+#define KANGAROO_HPP
+
+
+class Kangaroo {
+
+    public:
+        Kangaroo(Motor &M1, Motor &M2, QEI &e1, QEI &e2);
+        void zero();
+        void start();
+        void run();
+        void stop();
+        void updatePose();
+        void testEncoders(Serial &pc);
+        
+    private:
+        QEI& enc1;
+        QEI& enc2;
+        Motor& m1;
+        Motor& m2;
+        
+        DigitalOut led1, led2, led3, led4;
+};
+
+#endif
\ No newline at end of file

--- a/src/dynamics.cpp	Sun Nov 24 19:21:47 2013 +0000
+++ b/src/dynamics.cpp	Sun Nov 24 19:52:28 2013 +0000
@@ -1,35 +1,3 @@
 #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("motor1:  %i\n",m1.getPos());
-    pc.printf("clix1:  %i, rots1: %i\n",enc1.getPulses(), enc1.getRevolutions());
-    
-    //pc.printf("motor2:  %i\n",);
-    pc.printf("clix2:  %i, rots2: %i\n",enc2.getPulses(), enc2.getRevolutions());
-}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/kangaroo.cpp	Sun Nov 24 19:52:28 2013 +0000
@@ -0,0 +1,38 @@
+#include "mbed.h"
+#include "include/kangaroo.hpp"
+
+
+Kangaroo::Kangaroo(Motor &M1, Motor &M2, QEI &e1, QEI &e2):enc1(e1),enc2(e2),m1(M1),m2(M2),led1(LED1),led2(LED2),led3(LED3),led4(LED4){
+
+}
+
+void Kangaroo::zero(){
+    m1.setVel(-.002);//wait for the legs to go to stopping points
+    m2.setVel(-.002);
+    led4=1;
+    wait(1);
+    
+    m1.zero();
+    m2.zero();
+    
+    enc1.reset();
+    enc2.reset();
+    led2=1;
+    while(((enc1.getRevolutions()==0)||(enc2.getRevolutions()==0))){
+        wait(0.1);
+    }
+    
+    led1=1;
+    led3=1;
+    
+}
+
+void Kangaroo::testEncoders(Serial &pc){
+    //pc.printf("hello world\n");
+    
+    //pc.printf("motor1:  %i\n",m1.getPos());
+    pc.printf("clix1:  %i, rots1: %i\n",enc1.getPulses(), enc1.getRevolutions());
+    
+    //pc.printf("motor2:  %i\n",);
+    pc.printf("clix2:  %i, rots2: %i\n",enc2.getPulses(), enc2.getRevolutions());
+}
\ No newline at end of file