Thomas Branch / Mbed 2 deprecated ICRSEurobot13

ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

main.cpp@17:6263e90bf3ba, 2013-04-07 (annotated)

Committer:
madcowswe
Date:
Sun Apr 07 17:51:59 2013 +0000
Revision:
17:6263e90bf3ba
Parent:
16:52250d8d8fce
Child:
19:4b993a9a156e
Still fixing init in kalman

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
madcowswe 17:6263e90bf3ba 64 pos beaconpos[] = {{0,0}, {0,2}, {3,1}};
madcowswe 17:6263e90bf3ba 65
twighk 4:1be0f6c6ceae 66 #include "Actuators/Arms/Arm.h"
twighk 1:8119211eae14 67 #include "Actuators/MainMotors/MainMotor.h"
twighk 1:8119211eae14 68 #include "Sensors/Encoders/Encoder.h"
twighk 4:1be0f6c6ceae 69 #include "Sensors/Colour/Colour.h"
twighk 8:69bdf20cb525 70 #include "Sensors/CakeSensor/CakeSensor.h"
twighk 12:d4b5851742a3 71 #include "Processes/Printing/Printing.h"
madcowswe 13:76c9915db820 72 #include <algorithm>
twighk 0:200635fa1b08 73
twighk 0:200635fa1b08 74 void motortest();
twighk 0:200635fa1b08 75 void encodertest();
twighk 0:200635fa1b08 76 void motorencodetest();
twighk 0:200635fa1b08 77 void motorencodetestline();
twighk 0:200635fa1b08 78 void motorsandservostest();
twighk 1:8119211eae14 79 void armtest();
twighk 2:45da48fab346 80 void motortestline();
twighk 3:717de74f6ebd 81 void ledtest();
twighk 3:717de74f6ebd 82 void phototransistortest();
twighk 3:717de74f6ebd 83 void ledphototransistortest();
twighk 3:717de74f6ebd 84 void colourtest();
twighk 8:69bdf20cb525 85 void cakesensortest();
twighk 12:d4b5851742a3 86 void printingtestthread(void const*);
twighk 12:d4b5851742a3 87 void printingtestthread2(void const*);
madcowswe 13:76c9915db820 88 void feedbacktest();
twighk 0:200635fa1b08 89
twighk 0:200635fa1b08 90 int main() {
twighk 2:45da48fab346 91
twighk 3:717de74f6ebd 92 /*****************
twighk 3:717de74f6ebd 93 * Test Code *
twighk 3:717de74f6ebd 94 *****************/
twighk 0:200635fa1b08 95 //motortest();
twighk 0:200635fa1b08 96 //encodertest();
twighk 8:69bdf20cb525 97 //motorencodetest();
twighk 1:8119211eae14 98 //motorencodetestline();
twighk 0:200635fa1b08 99 //motorsandservostest();
twighk 3:717de74f6ebd 100 //armtest();
twighk 2:45da48fab346 101 //motortestline();
twighk 11:bbddc908c78c 102 //ledtest();
twighk 3:717de74f6ebd 103 //phototransistortest();
madcowswe 13:76c9915db820 104 //ledphototransistortest();
madcowswe 5:56a5fdd373c9 105 //colourtest(); // Red SnR too low
madcowswe 13:76c9915db820 106 //cakesensortest();
madcowswe 15:9c5aaeda36dc 107 feedbacktest();
madcowswe 15:9c5aaeda36dc 108
madcowswe 15:9c5aaeda36dc 109 /*
twighk 12:d4b5851742a3 110 DigitalOut l1(LED1);
twighk 12:d4b5851742a3 111 Thread p(printingThread, NULL, osPriorityNormal, 2048);
twighk 12:d4b5851742a3 112 l1=1;
twighk 12:d4b5851742a3 113 Thread a(printingtestthread, NULL, osPriorityNormal, 1024);
twighk 12:d4b5851742a3 114 Thread b(printingtestthread2, NULL, osPriorityNormal, 1024);
twighk 12:d4b5851742a3 115 Thread::wait(osWaitForever);
madcowswe 15:9c5aaeda36dc 116 */
madcowswe 16:52250d8d8fce 117
madcowswe 16:52250d8d8fce 118 //Kalman test threads
madcowswe 16:52250d8d8fce 119 //Ticker predictticker;
madcowswe 16:52250d8d8fce 120 //predictthread(predictloopwrapper, this, osPriorityNormal, 512)
madcowswe 16:52250d8d8fce 121 //updatethread(updateloopwrapper, this, osPriorityNormal, 512)
madcowswe 16:52250d8d8fce 122 //predictticker( SIGTICKARGS(predictthread, 0x1) ),
madcowswe 13:76c9915db820 123 }
madcowswe 13:76c9915db820 124
twighk 12:d4b5851742a3 125 #include <cstdlib>
twighk 12:d4b5851742a3 126 using namespace std;
twighk 12:d4b5851742a3 127
twighk 12:d4b5851742a3 128 void printingtestthread(void const*){
twighk 12:d4b5851742a3 129 const char ID = 1;
twighk 12:d4b5851742a3 130 float buffer[3] = {ID};
twighk 12:d4b5851742a3 131 registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
twighk 12:d4b5851742a3 132 while (true){
twighk 12:d4b5851742a3 133 for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
twighk 12:d4b5851742a3 134 buffer[i] =ID ;
twighk 12:d4b5851742a3 135 }
twighk 12:d4b5851742a3 136 updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
twighk 12:d4b5851742a3 137 Thread::wait(200);
twighk 12:d4b5851742a3 138 }
twighk 12:d4b5851742a3 139 }
madcowswe 14:c638d4b9ee94 140
twighk 12:d4b5851742a3 141 void printingtestthread2(void const*){
twighk 12:d4b5851742a3 142 const char ID = 2;
twighk 12:d4b5851742a3 143 float buffer[5] = {ID};
twighk 12:d4b5851742a3 144 registerID(ID,sizeof(buffer)/sizeof(buffer[0]));
twighk 12:d4b5851742a3 145 while (true){
twighk 12:d4b5851742a3 146 for(size_t i = 1; i != sizeof(buffer)/sizeof(buffer[0]); ++i){
twighk 12:d4b5851742a3 147 buffer[i] = ID;
twighk 12:d4b5851742a3 148 }
twighk 12:d4b5851742a3 149 updateval(ID, buffer, sizeof(buffer)/sizeof(buffer[0]));
twighk 12:d4b5851742a3 150 Thread::wait(500);
twighk 12:d4b5851742a3 151 }
twighk 8:69bdf20cb525 152 }
twighk 8:69bdf20cb525 153
madcowswe 14:c638d4b9ee94 154
madcowswe 13:76c9915db820 155 void feedbacktest(){
madcowswe 13:76c9915db820 156 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 13:76c9915db820 157 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
madcowswe 13:76c9915db820 158
madcowswe 15:9c5aaeda36dc 159 float Pgain = -0.005;
madcowswe 15:9c5aaeda36dc 160 float fwdspeed = -400/3.0f;
madcowswe 13:76c9915db820 161 Timer timer;
madcowswe 13:76c9915db820 162 timer.start();
madcowswe 13:76c9915db820 163
madcowswe 13:76c9915db820 164 while(true){
madcowswe 13:76c9915db820 165 float expecdist = fwdspeed * timer.read();
madcowswe 15:9c5aaeda36dc 166 float errleft = Eleft.getPoint() - (expecdist*1.05);
madcowswe 13:76c9915db820 167 float errright = Eright.getPoint() - expecdist;
madcowswe 13:76c9915db820 168
madcowswe 13:76c9915db820 169 mleft(max(min(errleft*Pgain, 0.4f), -0.4f));
madcowswe 13:76c9915db820 170 mright(max(min(errright*Pgain, 0.4f), -0.4f));
madcowswe 13:76c9915db820 171 }
twighk 8:69bdf20cb525 172 }
twighk 8:69bdf20cb525 173
twighk 8:69bdf20cb525 174 void cakesensortest(){
twighk 8:69bdf20cb525 175 wait(1);
twighk 8:69bdf20cb525 176 pc.printf("cakesensortest");
twighk 8:69bdf20cb525 177
twighk 11:bbddc908c78c 178 CakeSensor cs(P_COLOR_SENSOR_IN);
twighk 8:69bdf20cb525 179 while(true){
twighk 8:69bdf20cb525 180 wait(0.1);
twighk 8:69bdf20cb525 181 pc.printf("distance: %f\t %f\r\n", cs.Distance(),cs.Distanceincm());
twighk 8:69bdf20cb525 182 }
twighk 3:717de74f6ebd 183 }
twighk 3:717de74f6ebd 184
twighk 3:717de74f6ebd 185 void colourtest(){
madcowswe 7:4340355261f9 186 Colour c(P_COLOR_SENSOR_BLUE, P_COLOR_SENSOR_RED, P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 187 c.Calibrate();
twighk 3:717de74f6ebd 188 while(true){
twighk 3:717de74f6ebd 189 wait(0.1);
twighk 3:717de74f6ebd 190 ColourEnum ce = c.getColour();
twighk 3:717de74f6ebd 191 switch(ce){
twighk 3:717de74f6ebd 192 case BLUE :
twighk 3:717de74f6ebd 193 pc.printf("BLUE\n\r");
twighk 3:717de74f6ebd 194 break;
twighk 3:717de74f6ebd 195 case RED:
twighk 3:717de74f6ebd 196 pc.printf("RED\n\r");
twighk 3:717de74f6ebd 197 break;
twighk 3:717de74f6ebd 198 case WHITE:
twighk 3:717de74f6ebd 199 pc.printf("WHITE\n\r");
twighk 3:717de74f6ebd 200 break;
twighk 3:717de74f6ebd 201 case INCONCLUSIVE:
twighk 3:717de74f6ebd 202 pc.printf("INCONCLUSIVE\n\r");
twighk 3:717de74f6ebd 203 break;
twighk 3:717de74f6ebd 204 default:
twighk 3:717de74f6ebd 205 pc.printf("BUG\n\r");
twighk 3:717de74f6ebd 206 }
twighk 2:45da48fab346 207 }
twighk 0:200635fa1b08 208
twighk 3:717de74f6ebd 209 }
twighk 3:717de74f6ebd 210
twighk 3:717de74f6ebd 211
twighk 3:717de74f6ebd 212 void ledphototransistortest(){
madcowswe 7:4340355261f9 213 DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED);
madcowswe 7:4340355261f9 214 AnalogIn pt(P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 215 Serial pc(USBTX, USBRX);
twighk 3:717de74f6ebd 216
twighk 3:717de74f6ebd 217 while(true){
twighk 11:bbddc908c78c 218 blue = 0; red = 0;
twighk 11:bbddc908c78c 219 for(int i = 0; i != 5; i++){
twighk 11:bbddc908c78c 220 wait(0.1);
twighk 11:bbddc908c78c 221 pc.printf("Phototransistor Analog is (none): %f \n\r", pt.read());
twighk 11:bbddc908c78c 222 }
twighk 11:bbddc908c78c 223
madcowswe 7:4340355261f9 224 blue = 1; red = 0;
twighk 3:717de74f6ebd 225 for(int i = 0; i != 5; i++){
twighk 3:717de74f6ebd 226 wait(0.1);
twighk 3:717de74f6ebd 227 pc.printf("Phototransistor Analog is (blue): %f \n\r", pt.read());
twighk 3:717de74f6ebd 228 }
madcowswe 7:4340355261f9 229 blue = 0; red = 1;
twighk 3:717de74f6ebd 230 for(int i = 0; i != 5; i++){
twighk 3:717de74f6ebd 231 wait(0.1);
twighk 3:717de74f6ebd 232 pc.printf("Phototransistor Analog is (red ): %f \n\r", pt.read());
twighk 3:717de74f6ebd 233 }
twighk 11:bbddc908c78c 234 blue = 1; red = 1;
twighk 11:bbddc908c78c 235 for(int i = 0; i != 5; i++){
twighk 11:bbddc908c78c 236 wait(0.1);
twighk 11:bbddc908c78c 237 pc.printf("Phototransistor Analog is (both): %f \n\r", pt.read());
twighk 11:bbddc908c78c 238 }
twighk 3:717de74f6ebd 239 }
twighk 3:717de74f6ebd 240 }
twighk 3:717de74f6ebd 241
twighk 3:717de74f6ebd 242 void phototransistortest(){
madcowswe 7:4340355261f9 243 AnalogIn pt(P_COLOR_SENSOR_IN);
twighk 3:717de74f6ebd 244 while(true){
twighk 3:717de74f6ebd 245 wait(0.1);
twighk 3:717de74f6ebd 246 pc.printf("Phototransistor Analog is: %f \n\r", pt.read());
twighk 3:717de74f6ebd 247 }
twighk 3:717de74f6ebd 248
twighk 3:717de74f6ebd 249 }
twighk 3:717de74f6ebd 250
twighk 3:717de74f6ebd 251 void ledtest(){
madcowswe 7:4340355261f9 252 DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED);
twighk 3:717de74f6ebd 253 while(true){
madcowswe 7:4340355261f9 254 blue = 1; red = 0;
twighk 3:717de74f6ebd 255 wait(0.2);
madcowswe 7:4340355261f9 256 blue = 0; red = 1;
twighk 3:717de74f6ebd 257 wait(0.2);
twighk 3:717de74f6ebd 258
twighk 3:717de74f6ebd 259 }
twighk 3:717de74f6ebd 260 }
twighk 3:717de74f6ebd 261
twighk 1:8119211eae14 262 void armtest(){
twighk 3:717de74f6ebd 263 Arm white(p26), black(p25, false, 0.0005, 180);
twighk 3:717de74f6ebd 264 while(true){
twighk 1:8119211eae14 265 white(0);
twighk 1:8119211eae14 266 black(0);
twighk 1:8119211eae14 267 wait(1);
twighk 1:8119211eae14 268 white(1);
twighk 1:8119211eae14 269 black(1);
twighk 1:8119211eae14 270 wait(1);
twighk 1:8119211eae14 271 }
twighk 1:8119211eae14 272 }
twighk 1:8119211eae14 273
twighk 1:8119211eae14 274
twighk 0:200635fa1b08 275 void motorsandservostest(){
twighk 0:200635fa1b08 276 Encoder Eleft(p27, p28), Eright(p30, p29);
twighk 0:200635fa1b08 277 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 1:8119211eae14 278 Arm sTop(p25), sBottom(p26);
twighk 4:1be0f6c6ceae 279 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 280 const float speed = 0.0;
twighk 0:200635fa1b08 281 const float dspeed = 0.0;
twighk 0:200635fa1b08 282
twighk 0:200635fa1b08 283 Timer servoTimer;
twighk 0:200635fa1b08 284 mleft(speed); mright(speed);
twighk 0:200635fa1b08 285 servoTimer.start();
twighk 0:200635fa1b08 286 while (true){
twighk 0:200635fa1b08 287 pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
twighk 0:200635fa1b08 288 if (Eleft.getPoint() < Eright.getPoint()){
twighk 0:200635fa1b08 289 mleft(speed);
twighk 0:200635fa1b08 290 mright(speed - dspeed);
twighk 0:200635fa1b08 291 } else {
twighk 0:200635fa1b08 292 mright(speed);
twighk 0:200635fa1b08 293 mleft(speed - dspeed);
twighk 0:200635fa1b08 294 }
twighk 0:200635fa1b08 295 if (servoTimer.read() < 1){
twighk 0:200635fa1b08 296 sTop.clockwise();
twighk 0:200635fa1b08 297 } else if (servoTimer.read() < 4) {
twighk 2:45da48fab346 298 sTop.halt();
twighk 0:200635fa1b08 299 } else if (servoTimer.read() < 5) {
twighk 0:200635fa1b08 300 sBottom.anticlockwise();
twighk 0:200635fa1b08 301 //Led=1;
twighk 0:200635fa1b08 302 } else if (servoTimer.read() < 6) {
twighk 0:200635fa1b08 303 sBottom.clockwise();
twighk 0:200635fa1b08 304 //Led=0;
twighk 0:200635fa1b08 305 } else if (servoTimer.read() < 7) {
twighk 2:45da48fab346 306 sBottom.halt();
twighk 0:200635fa1b08 307 }else {
twighk 0:200635fa1b08 308 sTop.anticlockwise();
twighk 0:200635fa1b08 309 }
twighk 0:200635fa1b08 310 if (servoTimer.read() >= 9) servoTimer.reset();
twighk 0:200635fa1b08 311 }
twighk 0:200635fa1b08 312 }
twighk 0:200635fa1b08 313
twighk 2:45da48fab346 314 void motortestline(){
twighk 2:45da48fab346 315 MainMotor mleft(p24,p23), mright(p21,p22);
twighk 2:45da48fab346 316 const float speed = 0.2;
twighk 2:45da48fab346 317 mleft(speed); mright(speed);
twighk 2:45da48fab346 318 while(true) wait(1);
twighk 2:45da48fab346 319 }
twighk 2:45da48fab346 320
twighk 0:200635fa1b08 321 void motorencodetestline(){
madcowswe 13:76c9915db820 322 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 13:76c9915db820 323 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 4:1be0f6c6ceae 324 //Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 325 const float speed = 0.2;
twighk 0:200635fa1b08 326 const float dspeed = 0.1;
twighk 0:200635fa1b08 327
twighk 0:200635fa1b08 328 mleft(speed); mright(speed);
twighk 0:200635fa1b08 329 while (true){
twighk 0:200635fa1b08 330 //left 27 cm = 113 -> 0.239 cm/pulse
twighk 0:200635fa1b08 331 //right 27 cm = 72 -> 0.375 cm/pulse
twighk 0:200635fa1b08 332 pc.printf("Position is: %i \t %i \n\r", (int)(Eleft.getPoint()*0.239), (int)(Eright.getPoint()*0.375));
twighk 0:200635fa1b08 333 if (Eleft.getPoint()*0.239 < Eright.getPoint()*0.375){
twighk 0:200635fa1b08 334 mright(speed - dspeed);
twighk 0:200635fa1b08 335 } else {
twighk 0:200635fa1b08 336 mright(speed + dspeed);
twighk 0:200635fa1b08 337 }
twighk 0:200635fa1b08 338 }
twighk 0:200635fa1b08 339
twighk 0:200635fa1b08 340 }
twighk 0:200635fa1b08 341
twighk 0:200635fa1b08 342 void motorencodetest(){
madcowswe 7:4340355261f9 343 Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 7:4340355261f9 344 MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
twighk 0:200635fa1b08 345 Serial pc(USBTX, USBRX);
twighk 0:200635fa1b08 346
twighk 0:200635fa1b08 347 const float speed = -0.3;
twighk 0:200635fa1b08 348 const int enc = -38;
twighk 0:200635fa1b08 349 while(true){
twighk 0:200635fa1b08 350 mleft(speed); mright(0);
twighk 0:200635fa1b08 351 while(Eleft.getPoint()>enc){
twighk 0:200635fa1b08 352 pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
twighk 0:200635fa1b08 353 }
twighk 0:200635fa1b08 354 Eleft.reset(); Eright.reset();
twighk 0:200635fa1b08 355 mleft(0); mright(speed);
twighk 0:200635fa1b08 356 while(Eright.getPoint()>enc){
twighk 0:200635fa1b08 357 pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
twighk 0:200635fa1b08 358 }
twighk 0:200635fa1b08 359 Eleft.reset(); Eright.reset();
twighk 0:200635fa1b08 360 }
twighk 0:200635fa1b08 361 }
twighk 0:200635fa1b08 362
twighk 0:200635fa1b08 363 void encodertest(){
madcowswe 15:9c5aaeda36dc 364 Encoder E1(P_ENC_LEFT_A, P_ENC_LEFT_B);
madcowswe 15:9c5aaeda36dc 365 //Encoder E2(P_ENC_RIGHT_A, P_ENC_RIGHT_B);
twighk 0:200635fa1b08 366 Serial pc(USBTX, USBRX);
twighk 3:717de74f6ebd 367 while(true){
twighk 0:200635fa1b08 368 wait(0.1);
madcowswe 15:9c5aaeda36dc 369 pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), 0);//E2.getPoint());
twighk 0:200635fa1b08 370 }
twighk 0:200635fa1b08 371
twighk 0:200635fa1b08 372 }
twighk 0:200635fa1b08 373 void motortest(){
twighk 0:200635fa1b08 374 MainMotor mright(p22,p21), mleft(p23,p24);
twighk 3:717de74f6ebd 375 while(true) {
twighk 0:200635fa1b08 376 wait(1);
twighk 0:200635fa1b08 377 mleft(0.8); mright(0.8);
twighk 0:200635fa1b08 378 wait(1);
twighk 0:200635fa1b08 379 mleft(-0.2); mright(0.2);
twighk 0:200635fa1b08 380 wait(1);
twighk 0:200635fa1b08 381 mleft(0); mright(0);
twighk 0:200635fa1b08 382 }
twighk 0:200635fa1b08 383 }