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Dependencies:   mbed

main.cpp

Committer:
x58alex41
Date:
2017-11-22
Revision:
7:edd065946e9b
Parent:
6:688449345fff
Child:
9:76e4808df4cb

File content as of revision 7:edd065946e9b:

#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);

PwmOut M1F(PC_7);   //motor direction and speed control
PwmOut M2B(PA_7);
PwmOut M1B(PB_10);
PwmOut 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 );

}