Diff: main.cpp

Revision:

5:30cf394eca48

Parent:

4:11559b04c4ff

--- a/main.cpp	Thu Apr 04 20:54:00 2019 +0000
+++ b/main.cpp	Tue Apr 23 18:16:53 2019 +0000
@@ -18,7 +18,7 @@
 #define dKP  5.1491f        //Proportional Gain
 #define dKI  119.3089f      //Integral Gain
 #define MOTORPWM 0.00004f   //PWM Frequency
-#define MOTORMAX 0.6f       //Max Value of Buck Converter
+#define MOTORMAX 0.9f       //Max Value of Buck Converter
 #define MOTORMIN 0.0f       //Minimum Value of Buck Converter
 
 //Steering
@@ -67,8 +67,8 @@
 
 //Hardware Interupts
 Ticker Update;
-InterruptIn IN_pRunButton(PTA5);
-InterruptIn IN_pStopButton(PTA4);
+DigitalIn IN_pRunButton(PTA5);
+DigitalIn IN_pStopButton(PTA4);
 InterruptIn IN_pBumperStop(PTD3);
 
 InterruptIn IN_pArrowheadLeft(PTD5);
@@ -127,8 +127,15 @@
 int main() {
     cout << "\rCarStart" << endl;
     Init();
-    while(1) {wait(LOOPTIME); Loop();}
-    //int r = counter; for(int b = 3; b <= 0; b--){ if(r > pow(2,b+1)){ LED[b] = LEDON; r = r - pow(2,b+1);}           
+    while(1) {wait(LOOPTIME); Loop();
+    if(IN_pStopButton.read()>=.9)
+        StopMethod();
+    if(IN_pRunButton.read()>=.9)
+        TriggerSwitch();
+                 
+    }
+    //int r = counter; for(int b = 3; b <= 0; b--){ if(r > pow(2,b+1)){ LED[b] = LEDON; r = r - pow(2,b+1);} 
+                 
 }
 
 void Init() //Initializer
@@ -156,8 +163,8 @@
     PWM_pServo.period(SERVOPWM);
     
     //Interupt Init
-    IN_pRunButton.rise(&TriggerSwitch);
-    IN_pStopButton.rise(&StopMethod);
+    //IN_pRunButton.rise(&TriggerSwitch);
+    //IN_pStopButton.rise(&StopMethod);
     IN_pBumperStop.rise(&BumperStopMethod);
     IN_pArrowheadLeft.rise(&UpdateLeft);
     IN_pArrowheadRight.rise(&UpdateRight);
@@ -181,7 +188,7 @@
 {
     if(_oCurrentState == RUN)
     {
-    _fMotorReference = AI_pSpeedReference.read();
+    _fMotorReference = 0.85;//AI_pSpeedReference.read();
     _fError = _fMotorReference - AI_pTacho.read();
     _fErrorArea += TI*_fError;
     _fControllerOutput = dKP*_fError+ dKI*_fErrorArea;