Diff: main.cpp

Revision:

11:d07a4a683289

Parent:

10:de7a56fb94bc

Child:

12:46d0ff953a3f

--- a/main.cpp	Fri Mar 06 06:01:27 2015 +0000
+++ b/main.cpp	Fri Mar 06 09:16:02 2015 +0000
@@ -2,7 +2,8 @@
 
 DigitalOut myled(LED1);
 PwmOut servo(PTA5);
-PwmOut motor(PTA4);
+PwmOut motor1(PTA4);
+PwmOut motor2(PTA12);
 Serial pc(USBTX, USBRX); // tx, rx
 
 // encoder setup and variables
@@ -100,7 +101,8 @@
         tuning_val = 1;
         stall_check = avg_speed;
     }
-    motor.pulsewidth(.0025 * duty_cyc * tuning_val);
+    motor1.pulsewidth(.0025 * duty_cyc * tuning_val);
+    motor2.pulsewidth(.0025 * duty_cyc * tuning_val);
     
     pc.printf("speed: %f\n\rtuning val: %f\n\r", avg_speed, tuning_val);
     wait(.2);
@@ -145,31 +147,35 @@
     
 int main() {
     servo.period(0.005);
-    motor.period(.0025);
+    motor1.period(.0025);
+    motor2.period(.0025);
     interrupt.fall(&fallInterrupt);
     interrupt.rise(&riseInterrupt);
     
     t.start();
     while(1){
         
-        char choice = pc.getc();
+        char choice = '2';//pc.getc();
         pc.putc(choice);      
         
         switch(choice){
             case '0':
-                motor.pulsewidth(0.0);
+                motor1.pulsewidth(0.0);
+                motor2.pulsewidth(0.0);
                 pc.printf("0% \n\r");
                 
                 break;
             case '1':
-                motor.pulsewidth(.0025);
+                motor1.pulsewidth(.0025);
+                motor2.pulsewidth(.0025);
                 pc.printf("100% \n\r");
                 wait(.5);
                 pc.printf("speed: %f",get_avg_speed(num_samples_small, delay_small));
 
                 break;
             case '2':
-                motor.pulsewidth(.0025*.2);
+                motor1.pulsewidth(.0025*.2);
+                motor2.pulsewidth(.0025*.2);
                 pc.printf("\n\r20% \n\r");
                 wait(.5);       
                 pc.printf("speed: %f\n\rtuning val: %f\n\r", get_avg_speed(num_samples_small, delay_small));
@@ -192,7 +198,8 @@
                 
                 //break; 
             case '3':
-                motor.pulsewidth(.0025*.3);
+                motor1.pulsewidth(.0025*.3);
+                motor2.pulsewidth(.0025*.3);
                 pc.printf("\n\r30% \n\r");
                 wait(.5);
                 pc.printf("speed: %f",get_avg_speed(num_samples_small, delay_small));
@@ -203,7 +210,8 @@
                 
                 //break;
             case '5':
-                motor.pulsewidth(.0025*.5);
+                motor1.pulsewidth(.0025*.5);
+                motor2.pulsewidth(.0025*.5);
                 pc.printf("\n\r50% \n\r");
                 wait(.5);
                 pc.printf("speed: %f",get_avg_speed(num_samples_small, delay_small));
@@ -221,17 +229,20 @@
                 switch(choice){
                     
                     case '2':
-                        motor.pulsewidth(.0025*0.2f);
+                        motor1.pulsewidth(.0025*0.2f);
+                        motor2.pulsewidth(.0025*0.2f);
                         pc.printf("\n\rLongterm average speed at 20 Duty Cycle: %f\n\r", get_avg_speed(num_samples_large, delay_large));
                         break;
                         
                     case '3':
-                        motor.pulsewidth(.0025*0.3f);
+                        motor1.pulsewidth(.0025*0.3f);
+                        motor2.pulsewidth(.0025*0.3f);
                         pc.printf("\n\rLongterm average speed at 30 Duty Cycle: %f\n\r", get_avg_speed(num_samples_large, delay_large));
                         break;
                         
                     case '5':
-                        motor.pulsewidth(.0025*0.5f);
+                        motor1.pulsewidth(.0025*0.5f);
+                        motor2.pulsewidth(.0025*0.5f);
                         pc.printf("\n\rLongterm average speed at 50 Duty Cycle: %f\n\r", get_avg_speed(num_samples_large, delay_large));
                         break;
                         
@@ -241,7 +252,8 @@
                 break;
                 
             default:
-                motor.pulsewidth(.0025*0);
+                motor1.pulsewidth(.0025*0);
+                motor2.pulsewidth(.0025*0);
                 pc.printf("default\n\r");
                 break;
         }