Diff: main.cpp

Revision:

4:208f5279143a

Parent:

3:01b5e80d842d

Child:

5:f1613df66ceb

--- a/main.cpp	Sat Mar 09 14:27:48 2019 +0000
+++ b/main.cpp	Sat Mar 23 19:46:09 2019 +0000
@@ -2,11 +2,12 @@
 
 #include "math.h"
 #include "mbed.h"
-#include "PID.h"
 #include "Encoder.h"
 #include "lineSensor.h"
 #include "P.h"
-#include "Wheel.h"
+#include "PID.h"
+#include "LWheel.h"
+#include "RWheel.h"
 #include "Robot.h"
 
 
@@ -22,34 +23,34 @@
     
     Encoder* RE = new Encoder(PB_3,PB_5);
     Encoder* LE = new Encoder(PB_10,PB_4);
-    Wheel* rightWheel = new Wheel(RE,PC_8,PA_9, PA_14);
-    Wheel* leftWheel = new Wheel(LE,PC_6,PA_8, PA_7);
-    //an array of lineSensor pointers params: lineSensor(PinName emitter Pin, PinName reciever Pin, make sure it is from LEFT TO RIGHT
+    LWheel* leftWheel = new LWheel(LE,PC_8,PA_9, PA_14);
+    RWheel* rightWheel = new RWheel(RE,PC_6,PA_8, PB_6);
     
+    //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(0);
     
-    pc.printf("Stage 1 speed %f\r\n", rightWheel->returnAngularVelocity());
-    
-    rightWheel->init(0);
+    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()); 
     }
-    leftWheel->init(0);
-    while(leftWheel->returnAngularVelocity() != 0)
-    {
-     pc.printf("Stage 2, speed %f\r\n",leftWheel->returnAngularVelocity()); 
-    }
-
+    pc.printf("L , speed%f\r\n",leftWheel->returnMaxAngularVel());
+    pc.printf("R , speedM %f\r\n",rightWheel->returnMaxAngularVel());
+    //Robot rbt(leftWheel, rightWheel, sensorArray);
+    leftWheel->adjustAngularVelocity(40.0f);
+    rightWheel->adjustAngularVelocity(-64.0f);
     while(1)
     {
-        i++;
-        if (i >= 10)
-        {
-        i = 0;
-        pc.printf("speed %f\r\n", rightWheel->returnAngularVelocity()); 
-        pc.printf("speed %f\r\n", leftWheel->returnAngularVelocity());
-        }
+    pc.printf("L , speed%f\r\n",leftWheel->returnAngularVelocity());
+    pc.printf("R , speedM %f\r\n",rightWheel->returnAngularVelocity());
     }
+    
 }
-
-/* ineSensor* sensorArray[6] = {new lineSensor(D11,A0),new lineSensor(D7,A1),new lineSensor(D6,A2),new lineSensor(D5,A3),new lineSensor(D4,A4),new lineSensor(D3,A5)}; */
\ No newline at end of file
+//lineSensor* sensorArray[6] = {new lineSensor(D11,A0),new lineSensor(D7,A1),new lineSensor(D6,A2),new lineSensor(D5,A3),new lineSensor(D4,A4),new lineSensor(D3,A5)};
\ No newline at end of file