Revision 16:8cd4dd323941, committed 2021-10-26

Comitter:

aalawfi

Date:

Tue Oct 26 17:06:39 2021 +0000

Parent:

15:32a4440ad305

Child:

17:d2c98ebda90b

Commit message:

- Fixed brakes problem. Motors responding well no heating issues. Must fixe PI controller issue still

Changed in this revision

--- a/driving.h	Tue Oct 26 16:35:59 2021 +0000
+++ b/driving.h	Tue Oct 26 17:06:39 2021 +0000
@@ -18,13 +18,18 @@
 #define battDividerScalar 4.0;
 
 AnalogIn pot1(PTB2); //was PTB0
+// Motor Left is PTE20 
+// Motor right is pte 21
 PwmOut motorLeft(PTE20); //was PTB1
 PwmOut motorRight(PTE21); //was PTB2
-
+// left is ptb3 
+// right is ptc 2
 AnalogIn speedSensorLeft(PTB3);
 AnalogIn speedSensorRight(PTC2);
 DigitalOut ledRed(LED1);
 AnalogIn battInput(PTC1);
+// left brake is pta12 
+// right brake is pta4
 DigitalOut brakeLeft(PTA12);
 DigitalOut brakeRight(PTA4); //was PTD4
 

--- a/state_control.h	Tue Oct 26 16:35:59 2021 +0000
+++ b/state_control.h	Tue Oct 26 17:06:39 2021 +0000
@@ -29,16 +29,14 @@
 
 void _stop(void){
    steering_enabled =false;
-   // enable_brakes();
-    brakeLeftBool = true;
-    brakeRightBool = true;
+    enable_brakes();
     motor_enabled = false;  
     turn_led(RED); 
  
     }; 
 void _run(void){
     // TODO: realease brakes, start the motors
-    // disable_brakes(); 
+    // 
     brakeLeftBool = false;
     brakeLeftBool = false;
     motor_enabled = true; 
@@ -48,8 +46,7 @@
      // release brakes, turn on steering system, do not start the motor
     
      // disable_brakes();
-    brakeLeftBool = false;
-    brakeLeftBool = false;
+     disable_brakes(); 
     motor_enabled = false;
     setpointLeft = 0.0;
     setpointRight = 0.0;