Diff: main.cpp

Revision:

10:810d1849da9d

Parent:

9:1d8e4da058cd

Child:

11:8fc2b703086b

diff -r 1d8e4da058cd -r 810d1849da9d main.cpp
--- a/main.cpp	Sat May 06 01:31:44 2017 +0000
+++ b/main.cpp	Sat May 06 22:49:31 2017 +0000
@@ -6,6 +6,7 @@
 
 #include <stdlib.h>
 #include "ITG3200.h"
+#include "stm32f4xx.h" 
 #include "QEI.h"
 
 // PID
@@ -75,8 +76,31 @@
     {
         
     }
-        
-    
+}
+
+void enableButton1() {
+    dipFlags |= BUTTON1_FLAG;
+}
+void enableButton2() {
+    dipFlags |= BUTTON2_FLAG;
+}
+void enableButton3() {
+    dipFlags |= BUTTON3_FLAG;
+}
+void enableButton4() {
+    dipFlags |= BUTTON4_FLAG;
+}
+void disableButton1() {
+    dipFlags &= ~BUTTON1_FLAG;
+}
+void disableButton2() {
+    dipFlags &= ~BUTTON2_FLAG;
+}
+void disableButton3() {
+    dipFlags &= ~BUTTON3_FLAG;
+}
+void disableButton4() {
+    dipFlags &= ~BUTTON4_FLAG;
 }
 
 int main()
@@ -107,6 +131,23 @@
     // PB_3 is B of left
     QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING );
     QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING );
+    
+    // TODO: Setting all the registers and what not for Quadrature Encoders
+    RCC->APB1ENR |= 0x1001; // Enable clock for Tim2 (Bit 0) and Tim5 (Bit 3)
+    RCC->AHB1ENR |= 0x11; // Enable GPIO port clock enables for Tim2(A) and Tim5(B)
+    GPIOA->AFR[0] |= 0x10; // Set GPIO alternate function modes for Tim2
+    GPIOB->AFR[0] |= 0x100; // Set GPIO alternate function modes for Tim5
+    
+    dipButton1.rise(&enableButton1);
+    dipButton2.rise(&enableButton2);
+    dipButton3.rise(&enableButton3);
+    dipButton4.rise(&enableButton4);
+    
+    dipButton1.fall(&disableButton1);
+    dipButton2.fall(&disableButton2);
+    dipButton3.fall(&disableButton3);
+    dipButton4.fall(&disableButton4);
+    
 
     while (1) {
         moveForwardUntilWallIr();