Ryan Savitski / Mbed 2 deprecated ICRSEurobot14

2014 Eurobot fork

Dependencies:   mbed-rtos mbed QEI

main.cpp@31:ada943ecaceb, 2013-04-10 (annotated)

Committer:
madcowswe
Date:
Wed Apr 10 18:04:47 2013 +0000
Revision:
31:ada943ecaceb
Parent:
28:4e20b44251c6
Child:
32:e3f633620816
Made calibration more robust

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 20:70d651156779 1 #include "globals.h"
madcowswe 20:70d651156779 2 #include "Kalman.h"
twighk 0:200635fa1b08 3 #include "mbed.h"
twighk 13:d4b5851742a3 4 #include "rtos.h"
madcowswe 21:167dacfe0b14 5 #include "Arm.h"
madcowswe 21:167dacfe0b14 6 #include "MainMotor.h"
madcowswe 21:167dacfe0b14 7 #include "Encoder.h"
madcowswe 21:167dacfe0b14 8 #include "Colour.h"
madcowswe 21:167dacfe0b14 9 #include "CakeSensor.h"
madcowswe 21:167dacfe0b14 10 #include "Printing.h"
madcowswe 20:70d651156779 11 #include "coprocserial.h"
madcowswe 12:76c9915db820 12 #include <algorithm>
rsavitski 24:50805ef8c499 13 #include "motion.h"
madcowswe 25:b16f1045108f 14 #include "MotorControl.h"
madcowswe 28:4e20b44251c6 15 #include "system.h"
madcowswe 20:70d651156779 16
twighk 0:200635fa1b08 17 void motortest();
twighk 0:200635fa1b08 18 void encodertest();
twighk 0:200635fa1b08 19 void motorencodetest();
twighk 0:200635fa1b08 20 void motorencodetestline();
twighk 0:200635fa1b08 21 void motorsandservostest();
twighk 1:8119211eae14 22 void armtest();
twighk 2:45da48fab346 23 void motortestline();
twighk 3:717de74f6ebd 24 void ledtest();
twighk 3:717de74f6ebd 25 void phototransistortest();
twighk 3:717de74f6ebd 26 void ledphototransistortest();
twighk 3:717de74f6ebd 27 void colourtest();
twighk 8:69bdf20cb525 28 void cakesensortest();
twighk 13:d4b5851742a3 29 void printingtestthread(void const*);
twighk 13:d4b5851742a3 30 void printingtestthread2(void const*);
madcowswe 12:76c9915db820 31 void feedbacktest();
twighk 0:200635fa1b08 32
twighk 0:200635fa1b08 33 int main() {
twighk 2:45da48fab346 34
twighk 3:717de74f6ebd 35 /*****************
twighk 3:717de74f6ebd 36 * Test Code *
twighk 3:717de74f6ebd 37 *****************/
twighk 0:200635fa1b08 38 //motortest();
twighk 0:200635fa1b08 39 //encodertest();
twighk 8:69bdf20cb525 40 //motorencodetest();
twighk 1:8119211eae14 41 //motorencodetestline();
twighk 0:200635fa1b08 42 //motorsandservostest();
twighk 3:717de74f6ebd 43 //armtest();
twighk 2:45da48fab346 44 //motortestline();
twighk 11:bbddc908c78c 45 //ledtest();
twighk 3:717de74f6ebd 46 //phototransistortest();
madcowswe 12:76c9915db820 47 //ledphototransistortest();
madcowswe 5:56a5fdd373c9 48 //colourtest(); // Red SnR too low
madcowswe 12:76c9915db820 49 //cakesensortest();
madcowswe 20:70d651156779 50 //feedbacktest();
madcowswe 15:9c5aaeda36dc 51
madcowswe 20:70d651156779 52 /*
twighk 13:d4b5851742a3 53 DigitalOut l1(LED1);
madcowswe 21:167dacfe0b14 54 Thread p(Printing::printingloop, NULL, osPriorityNormal, 2048);
twighk 13:d4b5851742a3 55 l1=1;
twighk 13:d4b5851742a3 56 Thread a(printingtestthread, NULL, osPriorityNormal, 1024);
twighk 13:d4b5851742a3 57 Thread b(printingtestthread2, NULL, osPriorityNormal, 1024);
twighk 13:d4b5851742a3 58 Thread::wait(osWaitForever);
madcowswe 15:9c5aaeda36dc 59 */
madcowswe 16:52250d8d8fce 60
madcowswe 22:6e3218cf75f8 61 SystemTime.start();
madcowswe 20:70d651156779 62
madcowswe 25:b16f1045108f 63 Serial pc(USBTX, USBRX);
madcowswe 25:b16f1045108f 64 pc.baud(115200);
madcowswe 25:b16f1045108f 65
rsavitski 24:50805ef8c499 66 using AI::current_waypoint;
madcowswe 25:b16f1045108f 67
rsavitski 24:50805ef8c499 68 current_waypoint = new Waypoint;
rsavitski 24:50805ef8c499 69 current_waypoint->x = 0.5;
rsavitski 24:50805ef8c499 70 current_waypoint->y = 0.7;
rsavitski 24:50805ef8c499 71 current_waypoint->theta = 0.0;
rsavitski 24:50805ef8c499 72 current_waypoint->pos_threshold = 0.02;
rsavitski 24:50805ef8c499 73 current_waypoint->angle_threshold = 0.09;
madcowswe 20:70d651156779 74
madcowswe 20:70d651156779 75 InitSerial();
madcowswe 20:70d651156779 76 //while(1)
madcowswe 20:70d651156779 77 // printbuff();
madcowswe 20:70d651156779 78 wait(1);
madcowswe 20:70d651156779 79 Kalman::KalmanInit();
madcowswe 20:70d651156779 80
madcowswe 20:70d651156779 81 Thread predictthread(Kalman::predictloop, NULL, osPriorityNormal, 2084);//512); //temp 2k
madcowswe 20:70d651156779 82 Kalman::start_predict_ticker(&predictthread);
rsavitski 24:50805ef8c499 83
madcowswe 31:ada943ecaceb 84 Thread updatethread(Kalman::updateloop, NULL, osPriorityNormal, 2084);
madcowswe 31:ada943ecaceb 85
madcowswe 31:ada943ecaceb 86 //Ticker motorcontroltestticker;
madcowswe 31:ada943ecaceb 87 //motorcontroltestticker.attach(MotorControl::motor_control_isr, 0.05);
madcowswe 22:6e3218cf75f8 88
rsavitski 24:50805ef8c499 89 // motion layer periodic callback
rsavitski 24:50805ef8c499 90 RtosTimer motion_timer(motion::motionlayer, osTimerPeriodic);
rsavitski 24:50805ef8c499 91 motion_timer.start(50);
madcowswe 25:b16f1045108f 92
madcowswe 21:167dacfe0b14 93 Thread printingThread(Printing::printingloop, NULL, osPriorityLow, 2048);
madcowswe 25:b16f1045108f 94
madcowswe 28:4e20b44251c6 95 //measureCPUidle(); //repurpose thread for idle measurement
madcowswe 21:167dacfe0b14 96 Thread::wait(osWaitForever);
madcowswe 25:b16f1045108f 97
madcowswe 12:76c9915db820 98 }
madcowswe 12:76c9915db820 99
twighk 13:d4b5851742a3 100 #include <cstdlib>
twighk 13:d4b5851742a3 101 using namespace std;
twighk 13:d4b5851742a3 102
twighk 13:d4b5851742a3 103 void printingtestthread(void const*){
twighk 13:d4b5851742a3 104 const char ID = 1;
twighk 13:d4b5851742a3 105 float buffer[3] = {ID};
madcowswe 21:167dacfe0b14 106 Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
twighk 13:d4b5851742a3 107 while (true){
twighk 13:d4b5851742a3 108 for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
madcowswe 20:70d651156779 109 buffer[i] = ID ;
twighk 13:d4b5851742a3 110 }
madcowswe 21:167dacfe0b14 111 Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
twighk 13:d4b5851742a3 112 Thread::wait(200);
twighk 13:d4b5851742a3 113 }
twighk 13:d4b5851742a3 114 }
madcowswe 14:c638d4b9ee94 115
twighk 13:d4b5851742a3 116 void printingtestthread2(void const*){
twighk 13:d4b5851742a3 117 const char ID = 2;
twighk 13:d4b5851742a3 118 float buffer[5] = {ID};
madcowswe 21:167dacfe0b14 119 Printing::registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
twighk 13:d4b5851742a3 120 while (true){
twighk 13:d4b5851742a3 121 for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
twighk 13:d4b5851742a3 122 buffer[i] = ID;
twighk 13:d4b5851742a3 123 }
madcowswe 21:167dacfe0b14 124 Printing::updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
twighk 13:d4b5851742a3 125 Thread::wait(500);
twighk 13:d4b5851742a3 126 }
twighk 8:69bdf20cb525 127 }
twighk 8:69bdf20cb525 128
madcowswe 25:b16f1045108f 129
rsavitski 24:50805ef8c499 130 /*
madcowswe 12:76c9915db820 131 void feedbacktest(){
madcowswe 20:70d651156779 132 //Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 12:76c9915db820 133 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
madcowswe 12:76c9915db820 134
madcowswe 20:70d651156779 135 Kalman::State state;
madcowswe 20:70d651156779 136
madcowswe 20:70d651156779 137 float Pgain = -0.01;
madcowswe 15:9c5aaeda36dc 138 float fwdspeed = -400/3.0f;
madcowswe 12:76c9915db820 139 Timer timer;
madcowswe 12:76c9915db820 140 timer.start();
madcowswe 12:76c9915db820 141
madcowswe 12:76c9915db820 142 while(true){
madcowswe 12:76c9915db820 143 float expecdist = fwdspeed * timer.read();
madcowswe 20:70d651156779 144 state = Kalman::getState();
madcowswe 20:70d651156779 145 float errleft = left_encoder.getTicks() - (expecdist);
madcowswe 20:70d651156779 146 float errright = right_encoder.getTicks() - expecdist;
madcowswe 12:76c9915db820 147
madcowswe 12:76c9915db820 148 mleft(max(min(errleft*Pgain, 0.4f), -0.4f));
madcowswe 12:76c9915db820 149 mright(max(min(errright*Pgain, 0.4f), -0.4f));
madcowswe 12:76c9915db820 150 }
twighk 8:69bdf20cb525 151 }
rsavitski 24:50805ef8c499 152 */
madcowswe 25:b16f1045108f 153
twighk 8:69bdf20cb525 154 void cakesensortest(){
twighk 8:69bdf20cb525 155 wait(1);
madcowswe 20:70d651156779 156 printf("cakesensortest");
twighk 8:69bdf20cb525 157
twighk 11:bbddc908c78c 158 CakeSensor cs(P_COLOR_SENSOR_IN);
twighk 8:69bdf20cb525 159 while(true){
twighk 8:69bdf20cb525 160 wait(0.1);
madcowswe 20:70d651156779 161 printf("distance: %f\t %f\r\n", cs.Distance(),cs.Distanceincm());
twighk 8:69bdf20cb525 162 }
twighk 3:717de74f6ebd 163 }
twighk 3:717de74f6ebd 164
twighk 3:717de74f6ebd 165 void colourtest(){
madcowswe 7:4340355261f9 166 Colour c(P_COLOR_SENSOR_BLUE, P_COLOR_SENSOR_RED, P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 167 c.Calibrate();
twighk 3:717de74f6ebd 168 while(true){
twighk 3:717de74f6ebd 169 wait(0.1);
twighk 3:717de74f6ebd 170 ColourEnum ce = c.getColour();
twighk 3:717de74f6ebd 171 switch(ce){
twighk 3:717de74f6ebd 172 case BLUE :
madcowswe 20:70d651156779 173 printf("BLUE\n\r");
twighk 3:717de74f6ebd 174 break;
twighk 3:717de74f6ebd 175 case RED:
madcowswe 20:70d651156779 176 printf("RED\n\r");
twighk 3:717de74f6ebd 177 break;
twighk 3:717de74f6ebd 178 case WHITE:
madcowswe 20:70d651156779 179 printf("WHITE\n\r");
twighk 3:717de74f6ebd 180 break;
twighk 3:717de74f6ebd 181 case INCONCLUSIVE:
madcowswe 20:70d651156779 182 printf("INCONCLUSIVE\n\r");
twighk 3:717de74f6ebd 183 break;
twighk 3:717de74f6ebd 184 default:
madcowswe 20:70d651156779 185 printf("BUG\n\r");
twighk 3:717de74f6ebd 186 }
twighk 2:45da48fab346 187 }
twighk 0:200635fa1b08 188
twighk 3:717de74f6ebd 189 }
twighk 3:717de74f6ebd 190
twighk 3:717de74f6ebd 191
twighk 3:717de74f6ebd 192 void ledphototransistortest(){
madcowswe 7:4340355261f9 193 DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED);
madcowswe 7:4340355261f9 194 AnalogIn pt(P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 195 Serial pc(USBTX, USBRX);
twighk 3:717de74f6ebd 196
twighk 3:717de74f6ebd 197 while(true){
twighk 11:bbddc908c78c 198 blue = 0; red = 0;
twighk 11:bbddc908c78c 199 for(int i = 0; i != 5; i++){
twighk 11:bbddc908c78c 200 wait(0.1);
madcowswe 20:70d651156779 201 printf("Phototransistor Analog is (none): %f \n\r", pt.read());
twighk 11:bbddc908c78c 202 }
twighk 11:bbddc908c78c 203
madcowswe 7:4340355261f9 204 blue = 1; red = 0;
twighk 3:717de74f6ebd 205 for(int i = 0; i != 5; i++){
twighk 3:717de74f6ebd 206 wait(0.1);
madcowswe 20:70d651156779 207 printf("Phototransistor Analog is (blue): %f \n\r", pt.read());
twighk 3:717de74f6ebd 208 }
madcowswe 7:4340355261f9 209 blue = 0; red = 1;
twighk 3:717de74f6ebd 210 for(int i = 0; i != 5; i++){
twighk 3:717de74f6ebd 211 wait(0.1);
madcowswe 20:70d651156779 212 printf("Phototransistor Analog is (red ): %f \n\r", pt.read());
twighk 3:717de74f6ebd 213 }
twighk 11:bbddc908c78c 214 blue = 1; red = 1;
twighk 11:bbddc908c78c 215 for(int i = 0; i != 5; i++){
twighk 11:bbddc908c78c 216 wait(0.1);
madcowswe 20:70d651156779 217 printf("Phototransistor Analog is (both): %f \n\r", pt.read());
twighk 11:bbddc908c78c 218 }
twighk 3:717de74f6ebd 219 }
twighk 3:717de74f6ebd 220 }
twighk 3:717de74f6ebd 221
twighk 3:717de74f6ebd 222 void phototransistortest(){
madcowswe 7:4340355261f9 223 AnalogIn pt(P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 224 while(true){
twighk 3:717de74f6ebd 225 wait(0.1);
madcowswe 20:70d651156779 226 printf("Phototransistor Analog is: %f \n\r", pt.read());
twighk 3:717de74f6ebd 227 }
twighk 3:717de74f6ebd 228
twighk 3:717de74f6ebd 229 }
twighk 3:717de74f6ebd 230
twighk 3:717de74f6ebd 231 void ledtest(){
madcowswe 7:4340355261f9 232 DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED);
twighk 3:717de74f6ebd 233 while(true){
madcowswe 7:4340355261f9 234 blue = 1; red = 0;
twighk 3:717de74f6ebd 235 wait(0.2);
madcowswe 7:4340355261f9 236 blue = 0; red = 1;
twighk 3:717de74f6ebd 237 wait(0.2);
twighk 3:717de74f6ebd 238
twighk 3:717de74f6ebd 239 }
twighk 3:717de74f6ebd 240 }
twighk 3:717de74f6ebd 241
twighk 1:8119211eae14 242 void armtest(){
twighk 3:717de74f6ebd 243 Arm white(p26), black(p25, false, 0.0005, 180);
twighk 3:717de74f6ebd 244 while(true){
twighk 1:8119211eae14 245 white(0);
twighk 1:8119211eae14 246 black(0);
twighk 1:8119211eae14 247 wait(1);
twighk 1:8119211eae14 248 white(1);
twighk 1:8119211eae14 249 black(1);
twighk 1:8119211eae14 250 wait(1);
twighk 1:8119211eae14 251 }
twighk 1:8119211eae14 252 }
twighk 1:8119211eae14 253
twighk 1:8119211eae14 254
twighk 0:200635fa1b08 255 void motorsandservostest(){
twighk 0:200635fa1b08 256 Encoder Eleft(p27, p28), Eright(p30, p29);
twighk 0:200635fa1b08 257 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 1:8119211eae14 258 Arm sTop(p25), sBottom(p26);
twighk 4:1be0f6c6ceae 259 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 260 const float speed = 0.0;
twighk 0:200635fa1b08 261 const float dspeed = 0.0;
twighk 0:200635fa1b08 262
twighk 0:200635fa1b08 263 Timer servoTimer;
twighk 0:200635fa1b08 264 mleft(speed); mright(speed);
twighk 0:200635fa1b08 265 servoTimer.start();
twighk 0:200635fa1b08 266 while (true){
madcowswe 20:70d651156779 267 printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks());
madcowswe 20:70d651156779 268 if (Eleft.getTicks() < Eright.getTicks()){
twighk 0:200635fa1b08 269 mleft(speed);
twighk 0:200635fa1b08 270 mright(speed - dspeed);
twighk 0:200635fa1b08 271 } else {
twighk 0:200635fa1b08 272 mright(speed);
twighk 0:200635fa1b08 273 mleft(speed - dspeed);
twighk 0:200635fa1b08 274 }
twighk 0:200635fa1b08 275 if (servoTimer.read() < 1){
twighk 0:200635fa1b08 276 sTop.clockwise();
twighk 0:200635fa1b08 277 } else if (servoTimer.read() < 4) {
twighk 2:45da48fab346 278 sTop.halt();
twighk 0:200635fa1b08 279 } else if (servoTimer.read() < 5) {
twighk 0:200635fa1b08 280 sBottom.anticlockwise();
twighk 0:200635fa1b08 281 //Led=1;
twighk 0:200635fa1b08 282 } else if (servoTimer.read() < 6) {
twighk 0:200635fa1b08 283 sBottom.clockwise();
twighk 0:200635fa1b08 284 //Led=0;
twighk 0:200635fa1b08 285 } else if (servoTimer.read() < 7) {
twighk 2:45da48fab346 286 sBottom.halt();
twighk 0:200635fa1b08 287 }else {
twighk 0:200635fa1b08 288 sTop.anticlockwise();
twighk 0:200635fa1b08 289 }
twighk 0:200635fa1b08 290 if (servoTimer.read() >= 9) servoTimer.reset();
twighk 0:200635fa1b08 291 }
twighk 0:200635fa1b08 292 }
twighk 0:200635fa1b08 293
twighk 2:45da48fab346 294 void motortestline(){
twighk 2:45da48fab346 295 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 2:45da48fab346 296 const float speed = 0.2;
twighk 2:45da48fab346 297 mleft(speed); mright(speed);
twighk 2:45da48fab346 298 while(true) wait(1);
twighk 2:45da48fab346 299 }
twighk 2:45da48fab346 300
twighk 0:200635fa1b08 301 void motorencodetestline(){
madcowswe 12:76c9915db820 302 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 12:76c9915db820 303 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 4:1be0f6c6ceae 304 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 305 const float speed = 0.2;
twighk 0:200635fa1b08 306 const float dspeed = 0.1;
twighk 0:200635fa1b08 307
twighk 0:200635fa1b08 308 mleft(speed); mright(speed);
twighk 0:200635fa1b08 309 while (true){
twighk 0:200635fa1b08 310 //left 27 cm = 113 -> 0.239 cm/pulse
twighk 0:200635fa1b08 311 //right 27 cm = 72 -> 0.375 cm/pulse
madcowswe 20:70d651156779 312 printf("Position is: %i \t %i \n\r", (int)(Eleft.getTicks()*0.239), (int)(Eright.getTicks()*0.375));
madcowswe 20:70d651156779 313 if (Eleft.getTicks()*0.239 < Eright.getTicks()*0.375){
twighk 0:200635fa1b08 314 mright(speed - dspeed);
twighk 0:200635fa1b08 315 } else {
twighk 0:200635fa1b08 316 mright(speed + dspeed);
twighk 0:200635fa1b08 317 }
twighk 0:200635fa1b08 318 }
twighk 0:200635fa1b08 319
twighk 0:200635fa1b08 320 }
twighk 0:200635fa1b08 321
twighk 0:200635fa1b08 322 void motorencodetest(){
madcowswe 7:4340355261f9 323 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 7:4340355261f9 324 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 0:200635fa1b08 325 Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 326
twighk 0:200635fa1b08 327 const float speed = -0.3;
twighk 0:200635fa1b08 328 const int enc = -38;
twighk 0:200635fa1b08 329 while(true){
twighk 0:200635fa1b08 330 mleft(speed); mright(0);
madcowswe 20:70d651156779 331 while(Eleft.getTicks()>enc){
madcowswe 20:70d651156779 332 printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks());
twighk 0:200635fa1b08 333 }
twighk 0:200635fa1b08 334 Eleft.reset(); Eright.reset();
twighk 0:200635fa1b08 335 mleft(0); mright(speed);
madcowswe 20:70d651156779 336 while(Eright.getTicks()>enc){
madcowswe 20:70d651156779 337 printf("Position is: %i \t %i \n\r", Eleft.getTicks(), Eright.getTicks());
twighk 0:200635fa1b08 338 }
twighk 0:200635fa1b08 339 Eleft.reset(); Eright.reset();
twighk 0:200635fa1b08 340 }
twighk 0:200635fa1b08 341 }
twighk 0:200635fa1b08 342
twighk 0:200635fa1b08 343 void encodertest(){
madcowswe 15:9c5aaeda36dc 344 Encoder E1(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 15:9c5aaeda36dc 345 //Encoder E2(P_ENC_RIGHT_A, P_ENC_RIGHT_B);
twighk 0:200635fa1b08 346 Serial pc(USBTX, USBRX);
twighk 3:717de74f6ebd 347 while(true){
twighk 0:200635fa1b08 348 wait(0.1);
madcowswe 20:70d651156779 349 printf("Position is: %i \t %i \n\r", E1.getTicks(), 0);//E2.getTicks());
twighk 0:200635fa1b08 350 }
twighk 0:200635fa1b08 351
twighk 0:200635fa1b08 352 }
twighk 0:200635fa1b08 353 void motortest(){
twighk 0:200635fa1b08 354 MainMotor mright(p22,p21), mleft(p23,p24);
twighk 3:717de74f6ebd 355 while(true) {
twighk 0:200635fa1b08 356 wait(1);
twighk 0:200635fa1b08 357 mleft(0.8); mright(0.8);
twighk 0:200635fa1b08 358 wait(1);
twighk 0:200635fa1b08 359 mleft(-0.2); mright(0.2);
twighk 0:200635fa1b08 360 wait(1);
twighk 0:200635fa1b08 361 mleft(0); mright(0);
twighk 0:200635fa1b08 362 }
twighk 0:200635fa1b08 363 }