Diff: main.cpp

Revision:

11:ba1a630e56c4

Parent:

10:09dbd00164b9

Child:

12:410ebe8573ce

--- a/main.cpp	Wed May 13 11:55:50 2015 +0000
+++ b/main.cpp	Wed May 13 12:25:02 2015 +0000
@@ -13,12 +13,12 @@
 AnalogIn hallSensor(P0_26);
 
 volatile int pulses_ = 0;
-InterruptIn hall1_(P0_5), hall2_(P0_4);
+//InterruptIn hall1_(P0_5), hall2_(P0_4);
 //Hallsensor hall1(P1_26, P1_27);
 //Hallsensor hall2(P0_4, P0_5);
 
-Motor motor1(P2_0, P2_1);
-//Motor motor2(P2_2, P2_3, &pulses_);
+//Motor motor1(P2_0, P2_1,&hall1);
+//Motor motor2(P2_2, P2_3, &hall2);
 
 
 MPU9150 imu(P0_28, P0_27, P2_13);
@@ -45,23 +45,7 @@
 }
 int main()
 {
-    //Workout what the current state is.
-    int h1 = hall1_.read();
-    int h2 = hall2_.read();
-   // int h3 = hall3_.read();
-
-    // Set the PullUp Resistor
-    hall1_.mode(PullUp);
-    hall2_.mode(PullUp);
-    //hall3_.mode(PullUp);
-
-    //set interrupts on only hall 1-3 rise and fall.
-    hall1_.rise(&deneme);
-    hall1_.fall(&deneme);
-    hall2_.rise(&deneme);
-    hall2_.fall(&deneme);
-    //hall3_.rise(this, &deneme);
-   // hall3_.fall(this, &deneme);
+   
     RN42.baud(9600);
     debug.baud(115200);
    // InitTimer0();
@@ -135,99 +119,10 @@
             Vector3 vector_x(1,0,0),vector_y(0,1,0),vector_z(0,0,1);
             Vector3 pry=q1.getEulerAngles();
             debug.printf("p: %f r: %f y: %f ",pry.x/PI*180,pry.y/PI*180,pry.z/PI*180);
-           /* debug.printf("m1: %d m2: %d \r\n ",motor1.getPulses(),motor2.getPulses());
-            motor1.setVelocity(pry.x/90);
-            motor2.setVelocity(pry.x/90);*/
+            debug.printf("m1: %d m2: %d \r\n ",motor2.getPulses(),motor2.getPulses());
+            //motor1.setVelocity(pry.x/90);
+            motor2.setVelocity(pry.x/90);
 
         }
     }
 }
-
-/*/////////////////////////////////////////////////////////////////////////////////////////////////////////
-//  TIMER0 / CAPTURE0[0]
-/////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-    int          prevState_=0;
-    int          currState_=0;
-void TIMER0_IRQHandler __irq (void){
-    int h1   = (LPC_GPIO1->FIOPIN>>26) & 0x1;
-    int h2   = (LPC_GPIO1->FIOPIN>>27) & 0x1;
-    //2-bit state.
-    currState_ = (h1 << 2) | (h2 << 1);
-
-    if ((prevState_ == 0x0) && (currState_ == 0x2)) {
-        pulses_++;
-        prevState_ = currState_;
-        return;
-    } else if (prevState_ == 0x0 && currState_ == 0x1) {
-        pulses_--;
-        prevState_ = currState_;
-        return;
-    }
-
-    if ((prevState_ == 0x2) && (currState_ == 0x3)) {
-        pulses_++;
-        prevState_ = currState_;
-        return;
-    } else if (prevState_ == 0x2 && currState_ == 0x0) {
-        pulses_--;
-        prevState_ = currState_;
-        return;
-    }
-    if ((prevState_ == 0x1) && (currState_ == 0x0)) {
-        pulses_++;
-        prevState_ = currState_;
-        return;
-    } else if (prevState_ == 0x1 && currState_ == 0x3) {
-        pulses_--;
-        prevState_ = currState_;
-        return;
-    }
-    
-    if ((prevState_ == 0x3) && (currState_ == 0x1)) {
-        pulses_++;
-        prevState_ = currState_;
-        return;
-    } else if (prevState_ == 0x3 && currState_ == 0x2) {
-        pulses_--;
-        prevState_ = currState_;
-        return;
-    }
-
-    prevState_ = currState_;
-    if( LPC_TIM0->IR & 0x10 ) {
-        LPC_TIM0->IR = 0x10;          // Clear MATx interrupt include DMA request
-    }
-    if( LPC_TIM0->IR & 0x20 ) {
-        LPC_TIM0->IR = 0x20;          // Clear MATx interrupt include DMA request
-    }
-
-}
-
-void InitTimer0(void)
-{
-    //hold timer0 in reset
-    LPC_TIM0->TCR=2;
-
-    //timer0 power on
-    LPC_SC->PCONP |= (0x01<<1);
-
-    //cap0.0 cap0.1 pin input
-    LPC_PINCON->PINSEL3 &= ~((0x3<<20)|(0x3<<22));
-    LPC_PINCON->PINSEL3 |= (0x3<<20)|(0x3<<22);
-
-    //capture interrupts clear
-    LPC_TIM0->IR = 0x30;          // Clear MATx interrupt include DMA request
-
-
-    //timer0 pid de kullanildigindan prescaler iptal. counter frekansi 18m olmali.
-    //LPC_TIM0->PR  = pclk/1000000; // set prescaler to get 1 M counts/sec
-
-    //Capture 0 and 1 on rising edge, interrupt enable.
-    LPC_TIM0->CCR = 0x3f;//(0x1<<0) |  (0x1<<1) |  (0x1<<2) | (0x1<<3) |  (0x1<<4) |( 0x1<<5);
-
-    NVIC_EnableIRQ(TIMER0_IRQn);
-
-    //start timer0
-    LPC_TIM0->TCR=1;
-}*/
\ No newline at end of file