MotorPtr
Motor::clone() const {
//TRACER_VERBOSE_ENTER_SCOPE("Motor[%s]@%p::clone()",id_.str(),this);
MotorPtr newMotor(new Motor(*this));
TRACER_VERBOSE_PRINT("Motor clone is %p",newMotor.get());
return newMotor;
}
/*
* Call this from the default Initialize function.
* After, be sure to reinitialize each motor you will be using on your robot.
*/
void riceBotInitialize() {
Motor *MOTDTFrontRight = newMotor();
Motor *MOTDTFrontMidRight = newMotor();
Motor *MOTDTMidRight = newMotor();
Motor *MOTDTBackRight = newMotor();
Motor *MOTDTFrontLeft = newMotor();
Motor *MOTDTFrontMidLeft = newMotor();
Motor *MOTDTMidLeft = newMotor();
Motor *MOTDTBackLeft = newMotor();
Motor *MOTARMFront = newMotor();
Motor *MOTARMRight = newMotor();
Motor *MOTARMLeft = newMotor();
Motor *MOTARMTopRight = newMotor();
Motor *MOTARMBottomRight = newMotor();
Motor *MOTARMTopLeft = newMotor();
Motor *MOTARMBottomLeft = newMotor();
Motor *MOTCOL = newMotor();
printf("%d\n\r", imeInitializeAll());
imeReset(IMEARMLEFT);
imeReset(IMEARMRIGHT);
encDTLeft = encoderInit(0, 0, false);
encDTRight = encoderInit(0, 0, false);
encARMLeft = encoderInit(0, 0, false);
encARMRight = encoderInit(0, 0, false);
Ricencoder *ENCDT = newEncoder();
Ricencoder *ENCARM = newEncoder();
// gyro = gyroInit(0, 196);
// gyroVal = gyroGet(gyro);
analogCalibrate(POTARMLeft);
analogCalibrate(POTARMRight);
analogCalibrate(POTARMFront);
Pid *PidARMLeft = newPid();
Pid *PidARMRight = newPid();
Pid *PidARMFront = newPid();
}
void initialize(motor393 *_motor, short *fronts, short *ports){ //le doy los valores a los motores
for(short i=0; i<10; i++)
newMotor(&_motor[i], fronts[i], ports[i]); //crea un motor
}