Diff: main.cpp

Revision:

6:477382219bcf

Parent:

5:f1613df66ceb

Child:

7:cb07cdb35b6c

--- a/main.cpp	Mon Mar 25 22:42:31 2019 +0000
+++ b/main.cpp	Tue Mar 26 16:19:47 2019 +0000
@@ -14,7 +14,9 @@
 //Green D9
 //Red D5
 int main() {
-    Serial pc(USBTX, USBRX);
+    char c;
+    //Serial hm10(PA_11, PA_12);
+    //hm10.baud(9600);
     
     DigitalOut enable(PA_13);
     enable.write(1);
@@ -27,24 +29,30 @@
     //an array of lineSensor pointers params: lineSensor(PinName emitter Pin, PinName reciever Pin, make sure it is from LEFT TO RIGHT
     lineSensor* sensorArray[6] = {new lineSensor(PB_9,A0),new lineSensor(PC_11,A1),new lineSensor(PD_2,A2),new lineSensor(PC_10,A3),new lineSensor(PB_8,A4),new lineSensor(PC_12,A5)};
 
-    leftWheel->init(1);
+    leftWheel->init2();
     
-    while(leftWheel->returnAngularVelocity()!= 0)
-    {
-     pc.printf("Stage 1, speed %f\r\n",leftWheel->returnAngularVelocity());
-    }
-
-    rightWheel->init(1);
-    while(rightWheel->returnAngularVelocity() != 0)
-    {
-     pc.printf("Stage 2, speed %f\r\n",rightWheel->returnAngularVelocity()); 
-    }
-    pc.printf("L , speedM%f\r\n",leftWheel->returnMaxAngularVel());
-    pc.printf("R , speedM %f\r\n",rightWheel->returnMaxAngularVel());
+    rightWheel->init2();
     
     Robot rbt(leftWheel, rightWheel, sensorArray);
+    
+    rbt.rbtInit();
     while(1)
     {
+        
     }
-    
 }
+
+/*
+if(hm10.readable())
+        {
+            c = hm10.getc();
+            if(c=='R')
+            {
+                
+            }
+            else if(c=='F')
+            {
+                                                                                                                                                                                                                                                                                                                                                                         
+            }
+         }
+        */