Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

Master.cpp

Committer:
calamaridudeman
Date:
2013-11-26
Revision:
41:65de628f701f
Parent:
38:922f2584bdfd
Child:
42:2b887cb6a98a

File content as of revision 41:65de628f701f:

#include "mbed.h"

#include "Master.hpp"

Serial pc(USBTX, USBRX);

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

Motor m1(p15,p17,p18,p21,mEnc2);//hip p17 high is CCW
Motor m2(p16,p19,p20,p22,mEnc1);//knee p19 high is CCW

QEI bEnc1(p27, p28, p29, 500, QEI::X4_ENCODING);  //track  offset:-2.236814
QEI bEnc2(p5, p6, p7, 500, QEI::X4_ENCODING); //body   offset:1.770973

Kangaroo kankan(m1,m2,bEnc1,bEnc2);

Ticker t;

AnalogIn aIn(p15);
        DigitalOut Forward(p17);
        DigitalOut Backward(p18);
        PwmOut pwmOut(p21);

int main() {
    
    /*while(1){
        //kankan.testEncoders(pc);
        pc.printf("%f\n", kankan.getAngle());
        wait(.25);
    }*/
    
    kankan.start();
    wait(1);
    m1.setPos(-3.1415/6);
    m2.setPos(3.1415/6);
    //m1.setTorque(2);
    
    //kankan.setPoint(Point(0,0));
    wait(5);
    m1.stop();
    m2.stop();
    
    /*Forward=1;
        Backward=0;
            pwmOut.period_us(500);

    
    pwmOut.write(.15);
    
    wait(5);
    pwmOut.write(0);
    
    */
    
    //kankan.zero();
}