/*
This file is part of JOP, the Java Optimized Processor
see <http://www.jopdesign.com/>
Copyright (C) 2007, Peter Hilber and Alexander Dejaco
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
package lego;
import joprt.RtThread;
import lego.lib.*;
public class BackEMFTest
{
/**
* @param args
*/
public static void main(String[] args)
{
new RtThread(10, 100*1000) {
public void run()
{
Motor m0 = new Motor(0);
Motor m1 = new Motor(1);
m0.setMeasure(true);
m1.setMeasure(true);
while (true)
{
Motor.synchronizedReadBackEMF();
int[] sBackEMF0 = m0.getSynchronizedBackEMF();
int[] sBackEMF1 = m1.getSynchronizedBackEMF();
System.out.println(
sBackEMF0[0] + ", " + sBackEMF0[1] + "; " + sBackEMF1[0] + ", " + sBackEMF1[1]);
waitForNextPeriod();
}
}
};
RtThread.startMission();
}
}