Diff: global.cpp

Revision:

19:05b8123905fb

Parent:

17:47e107f9587b

--- a/global.cpp	Thu Apr 07 13:19:29 2016 +0000
+++ b/global.cpp	Mon Apr 24 21:37:50 2017 +0000
@@ -5,16 +5,16 @@
 DigitalOut led2(LED2);
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
-DigitalOut leftDir(p24); //
+DigitalOut leftDir(p23); //
 DigitalOut rightDir(p22); //
-DigitalOut spiReset(p8); //changed
-DigitalOut ioReset(p14); //
+DigitalOut spiReset(p14); //changed
+DigitalOut ioReset(p15); //
 
 // Comunication 
 SPI deSpi(p5, p6, p7);
 Pixy pixy(Pixy::SPI, p11, p12, p13);
-//Serial pc(USBTX, USBRX); // PC serial channel
-Serial pc(p28, p27); // Bluetooth serial channel
+Serial pc(USBTX, USBRX); // PC serial channel
+//Serial pc(p9, p10); // Bluetooth serial channel
 
 // Control
 PeriodicPI leftMotorPI(MOTOR_PERIOD, MOTOR_KP, MOTOR_KI);
@@ -23,18 +23,15 @@
 PeriodicPI xPI(NAVIGATION_PERIOD, STEERING_KP, STEERING_KI);
 
 // Other
-PwmOut leftPwm(p23); //
-PwmOut rightPwm(p21); //
-InterruptIn bumper(p25);
+PwmOut leftPwm(p24); 
+PwmOut rightPwm(p21); 
 
-// Converts measurements from the QE2 to rads/sec
-float QE2RadsPerSec(short counts, short time) {    
-    return ((float)counts*122.62)/time;
+// Converts measurements from the FPGA to rads/sec
+float RadsPerSec(short counts, short time) {    
+    return ((float)counts*26.558)/time;
 }
 
 // Returns the last character
-char flushBuffer(void) { 
-    char ch;
-    while (pc.readable()) pc.putc(pc.getc());
-    return ch; 
+void FlushBuffer(void) { 
+    while (pc.readable()) pc.getc();
 }
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