Diff: main.cpp

Revision:

1:d8c40d97ce2c

Parent:

0:23e4f10ffbcb

Child:

2:fd71ffefefe5

--- a/main.cpp	Wed Jul 04 09:33:58 2018 +0000
+++ b/main.cpp	Tue Jul 31 08:33:23 2018 +0000
@@ -2,14 +2,20 @@
 #include "measuring_wheel.h"
 
 Serial pc(USBTX, USBRX,115200);
-MeasuringWheel measuring(PA_9, PC_7, PB_10, PA_8, PC_1, PC_0);
-int main() {
-    
-    while(true){
-        measuring.wheelDiameter(48,48,48);  
-//        measuring.transmissionXY();
-//        measuring.resetpisithon();
-    pc.printf("x = %f, y = %f\r\n",measuring.getOutX(),measuring.getOutY());
+MeasuringWheel measuring(PA_11,PA_12, PA_8,PB_4, PA_6 ,PA_7);
+
+int main()
+{
+    measuring.wheelDiameter(48,48,48);
+    while(true) {
+
+
+
+//        pc.printf("fsjflsz\r\n");
+//        pc.printf("X = %f, Y = %f\r\n",measuring.getOutX(),measuring.getOutY());
+        pc.printf("wi = %f, w2 = %f, w3 = %f\r\n",measuring.getWheel1(),measuring.getWheel2(),measuring.getWheel3());
+            pc.printf("yaw = %f\r\n",measuring.getjyroAngle());
+//        wait(0.1);
     }
-    
+
 }