Revision 38:c3d77ff8168a, committed 2018-04-25

Comitter:

leogrotti

Date:

Wed Apr 25 15:03:09 2018 +0000

Parent:

37:d5d1468f1dd2

Child:

39:7e30bcc989d3

Commit message:

2 motores config + joystick funcionando

Changed in this revision

--- a/main.cpp	Wed Apr 25 14:28:04 2018 +0000
+++ b/main.cpp	Wed Apr 25 15:03:09 2018 +0000
@@ -107,7 +107,7 @@
 float w;
 float u;
 
-float a;
+//float a;
 
 
 
@@ -117,15 +117,15 @@
 
 unsigned int speed1;
 unsigned int speed2;
-unsigned int speed3;
+//unsigned int speed3;
 
-unsigned int pos3;
+//unsigned int pos3;
 
 
 /* Motor Control Component. */
 L6474 *motor1;
 L6474 *motor2;
-L6474 *motor3;
+//L6474 *motor3;
 
 
 /* Main ----------------------------------------------------------------------*/
@@ -140,16 +140,16 @@
     /* Initializing Motor Control Components. */
     motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
     motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
-    motor3 = new L6474(D2, D8, D5, D6, D10, dev_spi);
+   // motor3 = new L6474(D2, D8, D5, D6, D10, dev_spi);
     if (motor1->init() != COMPONENT_OK) {
         exit(EXIT_FAILURE);
     }
     if (motor2->init() != COMPONENT_OK) {
         exit(EXIT_FAILURE);
     }
-        if (motor3->init() != COMPONENT_OK) {
-        exit(EXIT_FAILURE);
-    }
+    //    if (motor3->init() != COMPONENT_OK) {
+    //    exit(EXIT_FAILURE);
+   // }
 
  
 
@@ -182,8 +182,8 @@
            motor1->run(StepperMotor::FWD);
            speed1 = motor1->get_speed();
            
-            //printf("speed1 =%d \r\n\n", speed1);
-            //printf("U =%f \r\n\n", u);
+            printf("speed1 =%d \r\n\n", speed1);
+            printf("U =%f \r\n\n", u);
 
            }
             else{ if(u<0.65) {
@@ -191,17 +191,17 @@
                 motor1->run(StepperMotor::BWD);
                 speed1 = motor1->get_speed();
                 
-                //printf("speed1 =%d \r\n\n", speed1);
+                printf("speed1 =%d \r\n\n", speed1);
                 
-               // printf("U =%f \r\n\n", u);
+                printf("U =%f \r\n\n", u);
 
                 }
                else 
                motor1->hard_stop();
                 speed1 = 0;
-                //printf("speed1 =%d \r\n\n", speed1);
+               printf("speed1 =%d \r\n\n", speed1);
                
-               // printf("U =%f \r\n\n", u);
+                printf("U =%f \r\n\n", u);
 
                }
         
@@ -210,8 +210,8 @@
             motor2->run(StepperMotor::BWD);
            speed2 = motor2->get_speed();
            
-            //printf("speed2 =%d \r\n\n", speed2);
-            //printf("W =%f \r\n\n", w);
+            printf("speed2 =%d \r\n\n", speed2);
+            printf("W =%f \r\n\n", w);
 
            }
             else{ if(w<0.67) {
@@ -220,15 +220,15 @@
                 motor2->run(StepperMotor::FWD);
                 speed2 = motor2->get_speed();
                 
-              //  printf("speed2 =%d \r\n\n", speed2);
-               // printf("W =%f \r\n\n", w);
+                printf("speed2 =%d \r\n\n", speed2);
+                printf("W =%f \r\n\n", w);
  
                }
                 else
                 motor2->hard_stop();
                 speed2 = 0;
-               // printf("speed2 =%d \r\n\n", speed2);
-                //printf("W =%f \r\n\n", w);
+                printf("speed2 =%d \r\n\n", speed2);
+                printf("W =%f \r\n\n", w);
 
                }