BE@R lab / Mbed 2 deprecated dog_V3_3_testmotor

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Dependencies:   Communication_Robot QEI iSerial mbed motion_control

Fork of dog_V3_2_testmotor by BE@R lab

Diff: main.cpp

Revision:
8:8d30ce9a9463
Parent:
7:6a99be179329
Child:
9:0de6ce956985
--- a/main.cpp	Fri Jul 17 07:11:46 2015 +0000
+++ b/main.cpp	Fri Jul 17 12:07:19 2015 +0000
@@ -4,6 +4,8 @@
 #include "communication.h"
 #include "protocol.h"
 
+#include "motor_relay.h"
+
 //set frequancy unit in Hz
 #define F_UPDATE 10.0f
 #define TIMER_UPDATE 1.0f/F_UPDATE
@@ -12,6 +14,7 @@
 #define TIMEOUT_RESPONE_COMMAND 5
 
 //define pin class
+/*
 DigitalOut dirA_LU(INA_L_U);
 DigitalOut dirB_LU(INB_L_U);
 
@@ -23,7 +26,13 @@
 
 DigitalOut dirA_RL(INA_R_L);
 DigitalOut dirB_RL(INB_R_L);
+*/
+MOTOR_RELAY leg_left_upper(INA_L_U,INB_L_U);
+MOTOR_RELAY leg_left_lower(INA_L_L,INB_L_L);
+MOTOR_RELAY leg_right_upper(INA_R_U,INB_R_U);
+MOTOR_RELAY leg_right_lower(INA_R_L,INB_R_L);
 
+/*
 DigitalIn sw_LU_U(LIMIT_LU_U,PullUp);
 DigitalIn sw_LU_D(LIMIT_LU_D,PullUp);
 
@@ -35,6 +44,7 @@
 
 DigitalIn sw_RL_U(LIMIT_RL_U,PullUp);
 DigitalIn sw_RL_D(LIMIT_RL_D,PullUp);
+*/
 
 AnalogIn position_LU(VR_LU);
 AnalogIn position_LL(VR_LL);
@@ -88,7 +98,7 @@
     uint16_t vr_lu,vr_ru;
     uint16_t vr_ll,vr_rl;
     pc.printf("wait\n");
-    motor_stop(0);
+    //motor_stop(0);
     //  wait(10);
     /*
         while(1) {
@@ -104,6 +114,12 @@
             wait(1);
         }
     */
+    while(1) {
+        leg_left_upper.SetMotor(1);
+        leg_left_lower.SetMotor(1);
+        leg_right_upper.SetMotor(1);
+        leg_right_lower.SetMotor(1);
+    }
 
     /*
         while(1) {
@@ -301,7 +317,7 @@
 }
 
 
-
+/*
 void motor_set(uint8_t id, uint8_t direct)
 {
     //direct: Should be between 0 and 3, with the following result
@@ -408,9 +424,9 @@
             break;
     }
 }
-
+*/
 
-
+/*
 uint8_t limit_motor(uint8_t id, uint8_t dirction)
 {
     switch(id) {
@@ -581,7 +597,7 @@
             motor_stop(id);
             wait_ms(500);
             pc.printf("motor[3] stop down\n");
-            
+
             do {
                 motor_set(id,1);
             } while(sw_RU_D);
@@ -625,6 +641,10 @@
     }
 
 }
+
+*/
+
+
 /*
 uint16_t convert(uint16_t data)
 {