Revision 28:21773a6fb6df, committed 2013-11-24

Comitter:

calamaridudeman

Date:

Sun Nov 24 19:04:01 2013 +0000

Parent:

27:4db137d6ea6e

Child:

29:33c5c61f1068

Child:

35:a4e89e78d034

Commit message:

Motor class is wrong, but motor encoders work so far

Changed in this revision

--- a/Master.cpp	Sun Nov 24 06:02:47 2013 +0000
+++ b/Master.cpp	Sun Nov 24 19:04:01 2013 +0000
@@ -10,15 +10,16 @@
 Motor m1(p15,p17,p18,p21,mEnc1);//hip
 Motor m2(p16,p19,p20,p22,mEnc2);//knee
 
-QEI bEnc1(p25, p26, p27, 1200, QEI::X4_ENCODING);//change pins!!!!!!!!!!!!!!!!!!!!!!!
+QEI bEnc1(p27, p28, p29, 1200, QEI::X4_ENCODING);//change pins!!!!!!!!!!!!!!!!!!!!!!!
 QEI bEnc2(p8, p9, p10, 1200, QEI::X4_ENCODING);//these too
 
-Kangaroo kankan(m1,m2,bEnc1,bEnc2);
+//Kangaroo kankan(m1,m2,bEnc1,bEnc2);
 
 int main() {
     
     while(1){
-        kankan.testEncoders(pc);
-        wait(2);
+        //kankan.testEncoders(pc);
+        pc.printf("m1: %i, enc1:  %i\n",m1.getPos(), mEnc1.getPulses());
+        wait(.5);
     }
 }

--- a/QEI.lib	Sun Nov 24 06:02:47 2013 +0000
+++ b/QEI.lib	Sun Nov 24 19:04:01 2013 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/teams/Pinocchio/code/QEI/#865d5b989ec4
+http://mbed.org/users/calamaridudeman/code/QEI/#865d5b989ec4

--- a/include/dynamics.hpp	Sun Nov 24 06:02:47 2013 +0000
+++ b/include/dynamics.hpp	Sun Nov 24 19:04:01 2013 +0000
@@ -14,13 +14,13 @@
 class Kangaroo {
 
     public:
-        Kangaroo(Motor M1, Motor M2, QEI e1, QEI e2);
+        Kangaroo(Motor &M1, Motor &M2, QEI &e1, QEI &e2);
         void zero();
         void start();
         void run();
         void stop();
         void updatePose();
-        void testEncoders(Serial pc);
+        void testEncoders(Serial &pc);
         
     private:
         QEI enc1;

--- a/include/motor.hpp	Sun Nov 24 06:02:47 2013 +0000
+++ b/include/motor.hpp	Sun Nov 24 19:04:01 2013 +0000
@@ -7,13 +7,13 @@
 class Motor {
 
     public:
-        Motor(PinName aPin, PinName fPin, PinName bPin, PinName pwmPin, QEI enc);
+        Motor(PinName aPin, PinName fPin, PinName bPin, PinName pwmPin, QEI &enc);
         
         void start();
         void stop();
         void setTorque(float t);
         void Control();
-        float getMotorPos();
+        int getPos();
         float getCurrent();
         static float filterLowPass(float old, float currentIn, float alphar);
         void setPos(float pos);

--- a/src/dynamics.cpp	Sun Nov 24 06:02:47 2013 +0000
+++ b/src/dynamics.cpp	Sun Nov 24 19:04:01 2013 +0000
@@ -2,7 +2,7 @@
 #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){
+Kangaroo::Kangaroo(Motor &M1, Motor &M2, QEI &e1, QEI &e2):enc1(e1),enc2(e2),m1(M1),m2(M2){
     
 }
 
@@ -24,11 +24,12 @@
     
 }
 
-void Kangaroo::testEncoders(Serial pc){
-    pc.printf("hello world\n");
-    /*
-    pc.printf("clix:  %i, rots: %i\n",enc1.getPulses(), enc1.getRevolutions());
-    */
+void Kangaroo::testEncoders(Serial &pc){
+    //pc.printf("hello world\n");
     
-    //pc.printf("clix:  %i, rots: %i\n",enc2.getPulses(), enc2.getRevolutions());
+    pc.printf("motor1:  %i\n",m1.getPos());
+    pc.printf("clix1:  %i, rots1: %i\n",enc1.getPulses(), enc1.getRevolutions());
+    
+    pc.printf("motor2:  %i\n",m2.getPos());
+    pc.printf("clix2:  %i, rots2: %i\n",enc2.getPulses(), enc2.getRevolutions());
 }
\ No newline at end of file

--- a/src/motor.cpp	Sun Nov 24 06:02:47 2013 +0000
+++ b/src/motor.cpp	Sun Nov 24 19:04:01 2013 +0000
@@ -1,9 +1,9 @@
 #include "mbed.h"
 #include "include/motor.hpp"
 
-Motor::Motor(PinName aPin, PinName fPin, PinName bPin, PinName pwmPin, QEI enc):aIn(aPin),Forward(fPin),Backward(bPin),pwmOut(pwmPin),encoder(enc){ 
+Motor::Motor(PinName aPin, PinName fPin, PinName bPin, PinName pwmPin, QEI* enc):aIn(aPin),Forward(fPin),Backward(bPin),pwmOut(pwmPin){//,encoder(enc){ 
 //15,17,18,21,qei25,26 and 16,19,20,22,qei23,24
-    
+    encoder = enc
     freq =.001;
     voltage = 12.0;
     mode=0;
@@ -70,7 +70,7 @@
     return (1/.140)*3.3 * aIn;
 }
 
-float Motor::getMotorPos()
+int Motor::getPos()
 {
     return encoder.getPulses();
 }