Diff: main.cpp

Revision:

0:9c49bdc7e402

Child:

6:688449345fff

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Nov 22 02:18:07 2017 +0000
@@ -0,0 +1,68 @@
+#include "mbed.h"
+#include "PID.h"
+#include "controls.h"
+#include "globals.h"
+
+AnalogIn LL_t (PC_0);
+AnalogIn L_t (PC_1);
+AnalogIn R_t (PA_4);
+AnalogIn RR_t (PA_0);
+
+DigitalOut LL_e (PB_7);
+DigitalOut L_e  (PB_0);
+DigitalOut R_e  (PC_11);
+DigitalOut RR_e (PC_10);
+
+InterruptIn cM1_1(PB_3);  //interrupt from encoders
+InterruptIn cM1_2(PA_15);
+InterruptIn cM2_1(PA_1);
+InterruptIn cM2_2(PC_4);
+
+DigitalOut M1F(PC_7);   //motor direction and speed control
+DigitalOut M2B(PA_7);
+DigitalOut M1B(PB_10);
+DigitalOut M2F(PB_6);
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+volatile unsigned long counterM1 = 1; // counter for hall sensors
+volatile unsigned long counterM2 = 1;
+
+void incrementM1()
+{
+    ++counterM1;
+}
+void incrementM2()
+{
+    ++counterM2;
+}
+
+int main()
+{
+
+    M1B.write(0);
+    M2B.write(0);
+    M1F.write(0);
+    M2F.write(0);
+    
+    LL_e=1;
+    RR_e=1;
+
+    cM1_1.rise(&incrementM1);
+    cM1_1.fall(&incrementM1);
+    cM1_2.rise(&incrementM1);
+    cM1_2.fall(&incrementM1);
+
+    cM2_1.rise(&incrementM2);
+    cM2_1.fall(&incrementM2);
+    cM2_2.rise(&incrementM2);
+    cM2_2.fall(&incrementM2);
+
+    move(.05, 1000000, forward, forward, &PID_e );
+
+}
+
+
+
+
+
+