Thomas Branch / Mbed 2 deprecated ICRSEurobot13

ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

main.cpp@14:c638d4b9ee94, 2013-04-06 (annotated)

Committer:
madcowswe
Date:
Sat Apr 06 15:43:47 2013 +0000
Revision:
14:c638d4b9ee94
Parent:
12:d4b5851742a3
Parent:
13:76c9915db820
Child:
15:9c5aaeda36dc
merged

Who changed what in which revision?

UserRevisionLine numberNew contents of line
twighk 8:69bdf20cb525 1 //#pragma Otime // Compiler Optimisations
twighk 0:200635fa1b08 2
twighk 0:200635fa1b08 3 // Eurobot13 main.cpp
twighk 0:200635fa1b08 4
madcowswe 6:995b3679155f 5
madcowswe 6:995b3679155f 6
madcowswe 6:995b3679155f 7 /*
madcowswe 6:995b3679155f 8 PINOUT Sensors
madcowswe 6:995b3679155f 9 5: RF:SDI
madcowswe 6:995b3679155f 10 6 SDO
madcowswe 6:995b3679155f 11 7 SCK
madcowswe 6:995b3679155f 12 8 NCS
madcowswe 6:995b3679155f 13 9 NIRQ
madcowswe 6:995b3679155f 14 10-15 6 echo pins
madcowswe 6:995b3679155f 15 16 trig
madcowswe 6:995b3679155f 16 17 IRin
madcowswe 6:995b3679155f 17 18-20 unused
madcowswe 6:995b3679155f 18 21 stepper step
madcowswe 6:995b3679155f 19 22-27 unused
madcowswe 6:995b3679155f 20 28 Serial TX
madcowswe 6:995b3679155f 21 29-30 unused
madcowswe 6:995b3679155f 22
madcowswe 6:995b3679155f 23
madcowswe 6:995b3679155f 24 PINOUT Main
madcowswe 6:995b3679155f 25 5: Lower arm servo
madcowswe 6:995b3679155f 26 6: Upper arm servo
madcowswe 6:995b3679155f 27
madcowswe 6:995b3679155f 28 14: Serial RX
madcowswe 6:995b3679155f 29 15: Distance sensor
madcowswe 6:995b3679155f 30
madcowswe 6:995b3679155f 31 20: color sensor in
madcowswe 6:995b3679155f 32 21-24: Motors PWM IN 1-4
madcowswe 6:995b3679155f 33 25-26: Encoders
madcowswe 6:995b3679155f 34 27-28: Encoders
madcowswe 6:995b3679155f 35 29: Color sensor RED LED
madcowswe 6:995b3679155f 36 30: Color sensor BLUE LED
madcowswe 6:995b3679155f 37
madcowswe 6:995b3679155f 38 */
twighk 0:200635fa1b08 39 #include "mbed.h"
twighk 12:d4b5851742a3 40 #include "rtos.h"
twighk 3:717de74f6ebd 41 Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 42
twighk 11:bbddc908c78c 43 const PinName P_SERVO_LOWER_ARM = p5;
twighk 11:bbddc908c78c 44 const PinName P_SERVO_UPPER_ARM = p6;
twighk 11:bbddc908c78c 45
twighk 11:bbddc908c78c 46 const PinName P_SERIAL_RX = p14;
twighk 11:bbddc908c78c 47 const PinName P_DISTANCE_SENSOR = p15;
twighk 11:bbddc908c78c 48
twighk 11:bbddc908c78c 49 const PinName P_COLOR_SENSOR_IN = p20;
twighk 11:bbddc908c78c 50
twighk 11:bbddc908c78c 51 const PinName P_MOT_RIGHT_A = p21;
twighk 11:bbddc908c78c 52 const PinName P_MOT_RIGHT_B = p22;
twighk 11:bbddc908c78c 53 const PinName P_MOT_LEFT_A = p23;
twighk 11:bbddc908c78c 54 const PinName P_MOT_LEFT_B = p24;
twighk 11:bbddc908c78c 55
twighk 11:bbddc908c78c 56 const PinName P_ENC_RIGHT_A = p28;
twighk 11:bbddc908c78c 57 const PinName P_ENC_RIGHT_B = p27;
twighk 11:bbddc908c78c 58 const PinName P_ENC_LEFT_A = p25;
twighk 11:bbddc908c78c 59 const PinName P_ENC_LEFT_B = p26;
twighk 11:bbddc908c78c 60
twighk 11:bbddc908c78c 61 const PinName P_COLOR_SENSOR_RED = p29;
twighk 11:bbddc908c78c 62 const PinName P_COLOR_SENSOR_BLUE = p30;
twighk 11:bbddc908c78c 63
twighk 4:1be0f6c6ceae 64 #include "Actuators/Arms/Arm.h"
twighk 1:8119211eae14 65 #include "Actuators/MainMotors/MainMotor.h"
twighk 1:8119211eae14 66 #include "Sensors/Encoders/Encoder.h"
twighk 4:1be0f6c6ceae 67 #include "Sensors/Colour/Colour.h"
twighk 8:69bdf20cb525 68 #include "Sensors/CakeSensor/CakeSensor.h"
twighk 12:d4b5851742a3 69 #include "Processes/Printing/Printing.h"
madcowswe 13:76c9915db820 70 #include <algorithm>
twighk 0:200635fa1b08 71
twighk 0:200635fa1b08 72 void motortest();
twighk 0:200635fa1b08 73 void encodertest();
twighk 0:200635fa1b08 74 void motorencodetest();
twighk 0:200635fa1b08 75 void motorencodetestline();
twighk 0:200635fa1b08 76 void motorsandservostest();
twighk 1:8119211eae14 77 void armtest();
twighk 2:45da48fab346 78 void motortestline();
twighk 3:717de74f6ebd 79 void ledtest();
twighk 3:717de74f6ebd 80 void phototransistortest();
twighk 3:717de74f6ebd 81 void ledphototransistortest();
twighk 3:717de74f6ebd 82 void colourtest();
twighk 8:69bdf20cb525 83 void cakesensortest();
twighk 12:d4b5851742a3 84 void printingtestthread(void const*);
twighk 12:d4b5851742a3 85 void printingtestthread2(void const*);
madcowswe 13:76c9915db820 86 void feedbacktest();
twighk 0:200635fa1b08 87
twighk 0:200635fa1b08 88 int main() {
twighk 2:45da48fab346 89
twighk 3:717de74f6ebd 90 /*****************
twighk 3:717de74f6ebd 91 * Test Code *
twighk 3:717de74f6ebd 92 *****************/
twighk 0:200635fa1b08 93 //motortest();
twighk 0:200635fa1b08 94 //encodertest();
twighk 8:69bdf20cb525 95 //motorencodetest();
twighk 1:8119211eae14 96 //motorencodetestline();
twighk 0:200635fa1b08 97 //motorsandservostest();
twighk 3:717de74f6ebd 98 //armtest();
twighk 2:45da48fab346 99 //motortestline();
twighk 11:bbddc908c78c 100 //ledtest();
twighk 3:717de74f6ebd 101 //phototransistortest();
madcowswe 13:76c9915db820 102 //ledphototransistortest();
madcowswe 5:56a5fdd373c9 103 //colourtest(); // Red SnR too low
madcowswe 13:76c9915db820 104 //cakesensortest();
madcowswe 13:76c9915db820 105 //feedbacktest();
twighk 12:d4b5851742a3 106 DigitalOut l1(LED1);
twighk 12:d4b5851742a3 107 Thread p(printingThread, NULL, osPriorityNormal, 2048);
twighk 12:d4b5851742a3 108 l1=1;
twighk 12:d4b5851742a3 109 Thread a(printingtestthread, NULL, osPriorityNormal, 1024);
twighk 12:d4b5851742a3 110 Thread b(printingtestthread2, NULL, osPriorityNormal, 1024);
twighk 12:d4b5851742a3 111 Thread::wait(osWaitForever);
madcowswe 13:76c9915db820 112 }
madcowswe 13:76c9915db820 113
twighk 12:d4b5851742a3 114 #include <cstdlib>
twighk 12:d4b5851742a3 115 using namespace std;
twighk 12:d4b5851742a3 116
twighk 12:d4b5851742a3 117 void printingtestthread(void const*){
twighk 12:d4b5851742a3 118 const char ID = 1;
twighk 12:d4b5851742a3 119 float buffer[3] = {ID};
twighk 12:d4b5851742a3 120 registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
twighk 12:d4b5851742a3 121 while (true){
twighk 12:d4b5851742a3 122 for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
twighk 12:d4b5851742a3 123 buffer[i] =ID ;
twighk 12:d4b5851742a3 124 }
twighk 12:d4b5851742a3 125 updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
twighk 12:d4b5851742a3 126 Thread::wait(200);
twighk 12:d4b5851742a3 127 }
twighk 12:d4b5851742a3 128 }
madcowswe 14:c638d4b9ee94 129
twighk 12:d4b5851742a3 130 void printingtestthread2(void const*){
twighk 12:d4b5851742a3 131 const char ID = 2;
twighk 12:d4b5851742a3 132 float buffer[5] = {ID};
twighk 12:d4b5851742a3 133 registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
twighk 12:d4b5851742a3 134 while (true){
twighk 12:d4b5851742a3 135 for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
twighk 12:d4b5851742a3 136 buffer[i] = ID;
twighk 12:d4b5851742a3 137 }
twighk 12:d4b5851742a3 138 updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
twighk 12:d4b5851742a3 139 Thread::wait(500);
twighk 12:d4b5851742a3 140 }
twighk 8:69bdf20cb525 141 }
twighk 8:69bdf20cb525 142
madcowswe 14:c638d4b9ee94 143
madcowswe 13:76c9915db820 144 void feedbacktest(){
madcowswe 13:76c9915db820 145 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 13:76c9915db820 146 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
madcowswe 13:76c9915db820 147
madcowswe 13:76c9915db820 148 float Pgain = -0.002;
madcowswe 13:76c9915db820 149 float fwdspeed = -200/3.0f;
madcowswe 13:76c9915db820 150 Timer timer;
madcowswe 13:76c9915db820 151 timer.start();
madcowswe 13:76c9915db820 152
madcowswe 13:76c9915db820 153 while(true){
madcowswe 13:76c9915db820 154 float expecdist = fwdspeed * timer.read();
madcowswe 13:76c9915db820 155 float errleft = Eleft.getPoint() - (expecdist*1.07f);
madcowswe 13:76c9915db820 156 float errright = Eright.getPoint() - expecdist;
madcowswe 13:76c9915db820 157
madcowswe 13:76c9915db820 158 mleft(max(min(errleft*Pgain, 0.4f), -0.4f));
madcowswe 13:76c9915db820 159 mright(max(min(errright*Pgain, 0.4f), -0.4f));
madcowswe 13:76c9915db820 160 }
twighk 8:69bdf20cb525 161 }
twighk 8:69bdf20cb525 162
twighk 8:69bdf20cb525 163 void cakesensortest(){
twighk 8:69bdf20cb525 164 wait(1);
twighk 8:69bdf20cb525 165 pc.printf("cakesensortest");
twighk 8:69bdf20cb525 166
twighk 11:bbddc908c78c 167 CakeSensor cs(P_COLOR_SENSOR_IN);
twighk 8:69bdf20cb525 168 while(true){
twighk 8:69bdf20cb525 169 wait(0.1);
twighk 8:69bdf20cb525 170 pc.printf("distance: %f\t %f\r\n", cs.Distance(),cs.Distanceincm());
twighk 8:69bdf20cb525 171 }
twighk 3:717de74f6ebd 172 }
twighk 3:717de74f6ebd 173
twighk 3:717de74f6ebd 174 void colourtest(){
madcowswe 7:4340355261f9 175 Colour c(P_COLOR_SENSOR_BLUE, P_COLOR_SENSOR_RED, P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 176 c.Calibrate();
twighk 3:717de74f6ebd 177 while(true){
twighk 3:717de74f6ebd 178 wait(0.1);
twighk 3:717de74f6ebd 179 ColourEnum ce = c.getColour();
twighk 3:717de74f6ebd 180 switch(ce){
twighk 3:717de74f6ebd 181 case BLUE :
twighk 3:717de74f6ebd 182 pc.printf("BLUE\n\r");
twighk 3:717de74f6ebd 183 break;
twighk 3:717de74f6ebd 184 case RED:
twighk 3:717de74f6ebd 185 pc.printf("RED\n\r");
twighk 3:717de74f6ebd 186 break;
twighk 3:717de74f6ebd 187 case WHITE:
twighk 3:717de74f6ebd 188 pc.printf("WHITE\n\r");
twighk 3:717de74f6ebd 189 break;
twighk 3:717de74f6ebd 190 case INCONCLUSIVE:
twighk 3:717de74f6ebd 191 pc.printf("INCONCLUSIVE\n\r");
twighk 3:717de74f6ebd 192 break;
twighk 3:717de74f6ebd 193 default:
twighk 3:717de74f6ebd 194 pc.printf("BUG\n\r");
twighk 3:717de74f6ebd 195 }
twighk 2:45da48fab346 196 }
twighk 0:200635fa1b08 197
twighk 3:717de74f6ebd 198 }
twighk 3:717de74f6ebd 199
twighk 3:717de74f6ebd 200
twighk 3:717de74f6ebd 201 void ledphototransistortest(){
madcowswe 7:4340355261f9 202 DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED);
madcowswe 7:4340355261f9 203 AnalogIn pt(P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 204 Serial pc(USBTX, USBRX);
twighk 3:717de74f6ebd 205
twighk 3:717de74f6ebd 206 while(true){
twighk 11:bbddc908c78c 207 blue = 0; red = 0;
twighk 11:bbddc908c78c 208 for(int i = 0; i != 5; i++){
twighk 11:bbddc908c78c 209 wait(0.1);
twighk 11:bbddc908c78c 210 pc.printf("Phototransistor Analog is (none): %f \n\r", pt.read());
twighk 11:bbddc908c78c 211 }
twighk 11:bbddc908c78c 212
madcowswe 7:4340355261f9 213 blue = 1; red = 0;
twighk 3:717de74f6ebd 214 for(int i = 0; i != 5; i++){
twighk 3:717de74f6ebd 215 wait(0.1);
twighk 3:717de74f6ebd 216 pc.printf("Phototransistor Analog is (blue): %f \n\r", pt.read());
twighk 3:717de74f6ebd 217 }
madcowswe 7:4340355261f9 218 blue = 0; red = 1;
twighk 3:717de74f6ebd 219 for(int i = 0; i != 5; i++){
twighk 3:717de74f6ebd 220 wait(0.1);
twighk 3:717de74f6ebd 221 pc.printf("Phototransistor Analog is (red ): %f \n\r", pt.read());
twighk 3:717de74f6ebd 222 }
twighk 11:bbddc908c78c 223 blue = 1; red = 1;
twighk 11:bbddc908c78c 224 for(int i = 0; i != 5; i++){
twighk 11:bbddc908c78c 225 wait(0.1);
twighk 11:bbddc908c78c 226 pc.printf("Phototransistor Analog is (both): %f \n\r", pt.read());
twighk 11:bbddc908c78c 227 }
twighk 3:717de74f6ebd 228 }
twighk 3:717de74f6ebd 229 }
twighk 3:717de74f6ebd 230
twighk 3:717de74f6ebd 231 void phototransistortest(){
madcowswe 7:4340355261f9 232 AnalogIn pt(P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 233 while(true){
twighk 3:717de74f6ebd 234 wait(0.1);
twighk 3:717de74f6ebd 235 pc.printf("Phototransistor Analog is: %f \n\r", pt.read());
twighk 3:717de74f6ebd 236 }
twighk 3:717de74f6ebd 237
twighk 3:717de74f6ebd 238 }
twighk 3:717de74f6ebd 239
twighk 3:717de74f6ebd 240 void ledtest(){
madcowswe 7:4340355261f9 241 DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED);
twighk 3:717de74f6ebd 242 while(true){
madcowswe 7:4340355261f9 243 blue = 1; red = 0;
twighk 3:717de74f6ebd 244 wait(0.2);
madcowswe 7:4340355261f9 245 blue = 0; red = 1;
twighk 3:717de74f6ebd 246 wait(0.2);
twighk 3:717de74f6ebd 247
twighk 3:717de74f6ebd 248 }
twighk 3:717de74f6ebd 249 }
twighk 3:717de74f6ebd 250
twighk 1:8119211eae14 251 void armtest(){
twighk 3:717de74f6ebd 252 Arm white(p26), black(p25, false, 0.0005, 180);
twighk 3:717de74f6ebd 253 while(true){
twighk 1:8119211eae14 254 white(0);
twighk 1:8119211eae14 255 black(0);
twighk 1:8119211eae14 256 wait(1);
twighk 1:8119211eae14 257 white(1);
twighk 1:8119211eae14 258 black(1);
twighk 1:8119211eae14 259 wait(1);
twighk 1:8119211eae14 260 }
twighk 1:8119211eae14 261 }
twighk 1:8119211eae14 262
twighk 1:8119211eae14 263
twighk 0:200635fa1b08 264 void motorsandservostest(){
twighk 0:200635fa1b08 265 Encoder Eleft(p27, p28), Eright(p30, p29);
twighk 0:200635fa1b08 266 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 1:8119211eae14 267 Arm sTop(p25), sBottom(p26);
twighk 4:1be0f6c6ceae 268 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 269 const float speed = 0.0;
twighk 0:200635fa1b08 270 const float dspeed = 0.0;
twighk 0:200635fa1b08 271
twighk 0:200635fa1b08 272 Timer servoTimer;
twighk 0:200635fa1b08 273 mleft(speed); mright(speed);
twighk 0:200635fa1b08 274 servoTimer.start();
twighk 0:200635fa1b08 275 while (true){
twighk 0:200635fa1b08 276 pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
twighk 0:200635fa1b08 277 if (Eleft.getPoint() < Eright.getPoint()){
twighk 0:200635fa1b08 278 mleft(speed);
twighk 0:200635fa1b08 279 mright(speed - dspeed);
twighk 0:200635fa1b08 280 } else {
twighk 0:200635fa1b08 281 mright(speed);
twighk 0:200635fa1b08 282 mleft(speed - dspeed);
twighk 0:200635fa1b08 283 }
twighk 0:200635fa1b08 284 if (servoTimer.read() < 1){
twighk 0:200635fa1b08 285 sTop.clockwise();
twighk 0:200635fa1b08 286 } else if (servoTimer.read() < 4) {
twighk 2:45da48fab346 287 sTop.halt();
twighk 0:200635fa1b08 288 } else if (servoTimer.read() < 5) {
twighk 0:200635fa1b08 289 sBottom.anticlockwise();
twighk 0:200635fa1b08 290 //Led=1;
twighk 0:200635fa1b08 291 } else if (servoTimer.read() < 6) {
twighk 0:200635fa1b08 292 sBottom.clockwise();
twighk 0:200635fa1b08 293 //Led=0;
twighk 0:200635fa1b08 294 } else if (servoTimer.read() < 7) {
twighk 2:45da48fab346 295 sBottom.halt();
twighk 0:200635fa1b08 296 }else {
twighk 0:200635fa1b08 297 sTop.anticlockwise();
twighk 0:200635fa1b08 298 }
twighk 0:200635fa1b08 299 if (servoTimer.read() >= 9) servoTimer.reset();
twighk 0:200635fa1b08 300 }
twighk 0:200635fa1b08 301 }
twighk 0:200635fa1b08 302
twighk 2:45da48fab346 303 void motortestline(){
twighk 2:45da48fab346 304 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 2:45da48fab346 305 const float speed = 0.2;
twighk 2:45da48fab346 306 mleft(speed); mright(speed);
twighk 2:45da48fab346 307 while(true) wait(1);
twighk 2:45da48fab346 308 }
twighk 2:45da48fab346 309
twighk 0:200635fa1b08 310 void motorencodetestline(){
madcowswe 13:76c9915db820 311 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 13:76c9915db820 312 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 4:1be0f6c6ceae 313 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 314 const float speed = 0.2;
twighk 0:200635fa1b08 315 const float dspeed = 0.1;
twighk 0:200635fa1b08 316
twighk 0:200635fa1b08 317 mleft(speed); mright(speed);
twighk 0:200635fa1b08 318 while (true){
twighk 0:200635fa1b08 319 //left 27 cm = 113 -> 0.239 cm/pulse
twighk 0:200635fa1b08 320 //right 27 cm = 72 -> 0.375 cm/pulse
twighk 0:200635fa1b08 321 pc.printf("Position is: %i \t %i \n\r", (int)(Eleft.getPoint()*0.239), (int)(Eright.getPoint()*0.375));
twighk 0:200635fa1b08 322 if (Eleft.getPoint()*0.239 < Eright.getPoint()*0.375){
twighk 0:200635fa1b08 323 mright(speed - dspeed);
twighk 0:200635fa1b08 324 } else {
twighk 0:200635fa1b08 325 mright(speed + dspeed);
twighk 0:200635fa1b08 326 }
twighk 0:200635fa1b08 327 }
twighk 0:200635fa1b08 328
twighk 0:200635fa1b08 329 }
twighk 0:200635fa1b08 330
twighk 0:200635fa1b08 331 void motorencodetest(){
madcowswe 7:4340355261f9 332 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 7:4340355261f9 333 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 0:200635fa1b08 334 Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 335
twighk 0:200635fa1b08 336 const float speed = -0.3;
twighk 0:200635fa1b08 337 const int enc = -38;
twighk 0:200635fa1b08 338 while(true){
twighk 0:200635fa1b08 339 mleft(speed); mright(0);
twighk 0:200635fa1b08 340 while(Eleft.getPoint()>enc){
twighk 0:200635fa1b08 341 pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
twighk 0:200635fa1b08 342 }
twighk 0:200635fa1b08 343 Eleft.reset(); Eright.reset();
twighk 0:200635fa1b08 344 mleft(0); mright(speed);
twighk 0:200635fa1b08 345 while(Eright.getPoint()>enc){
twighk 0:200635fa1b08 346 pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
twighk 0:200635fa1b08 347 }
twighk 0:200635fa1b08 348 Eleft.reset(); Eright.reset();
twighk 0:200635fa1b08 349 }
twighk 0:200635fa1b08 350 }
twighk 0:200635fa1b08 351
twighk 0:200635fa1b08 352 void encodertest(){
twighk 0:200635fa1b08 353 Encoder E1(p28, p27);
twighk 0:200635fa1b08 354 Encoder E2(p29, p30);
twighk 0:200635fa1b08 355 Serial pc(USBTX, USBRX);
twighk 3:717de74f6ebd 356 while(true){
twighk 0:200635fa1b08 357 wait(0.1);
twighk 0:200635fa1b08 358 pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), E2.getPoint());
twighk 0:200635fa1b08 359 }
twighk 0:200635fa1b08 360
twighk 0:200635fa1b08 361 }
twighk 0:200635fa1b08 362 void motortest(){
twighk 0:200635fa1b08 363 MainMotor mright(p22,p21), mleft(p23,p24);
twighk 3:717de74f6ebd 364 while(true) {
twighk 0:200635fa1b08 365 wait(1);
twighk 0:200635fa1b08 366 mleft(0.8); mright(0.8);
twighk 0:200635fa1b08 367 wait(1);
twighk 0:200635fa1b08 368 mleft(-0.2); mright(0.2);
twighk 0:200635fa1b08 369 wait(1);
twighk 0:200635fa1b08 370 mleft(0); mright(0);
twighk 0:200635fa1b08 371 }
twighk 0:200635fa1b08 372 }