Diff: main.cpp

Revision:

5:3b378e0659e9

Parent:

4:fd25ded02b89

Child:

6:8562953f94bf

--- a/main.cpp	Fri Apr 26 03:31:26 2019 +0000
+++ b/main.cpp	Sat Apr 27 02:31:38 2019 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
-
+//#include "Motor.h"
+//#include "motordriver.h"
 #define NELEMS(x)  (sizeof(x) / sizeof((x)[0]))
 
 DigitalOut led_e(p30);
@@ -14,266 +15,17 @@
 AnalogIn senseS(p17);
 AnalogIn senseC(p16);
 
-PwmOut pump(p21);
-/*
-      id1
-
-id2   id4      id0
-
-      id3
-*/
-
-int main()
-{
-
-    int num_pads = 5;
-    int pad_buffer_size = 5;
-
-    float s_w;
-    float s_e;
-    float s_s;
-    float s_n;
-    float s_c;
-
-    int avg_w;
-    int avg_e;
-    int avg_s;
-    int avg_n;
-    int avg_c;
-    
-    int pad_w_i;
-    int pad_e_i;
-    int pad_s_i;
-    int pad_n_i;
-    int pad_c_i;
-    
-    int* padw_data = new int[pad_buffer_size];
-    int* pade_data = new int[pad_buffer_size];
-    int* pads_data = new int[pad_buffer_size];
-    int* padn_data = new int[pad_buffer_size];
-    int* padc_data = new int[pad_buffer_size];
-
-    int newest_w;
-    int newest_e;
-    int newest_s;
-    int newest_n;
-    int newest_c;
-
-    int total_w;
-    int total_e;
-    int total_s;
-    int total_n;
-    int total_c;
-
-    int outlier_countW;
-    int outlier_countE;
-    int outlier_countS;
-    int outlier_countN;
-    int outlier_countC;
+//PwmOut pump(p21);
+PwmOut pwm_out(p21);
+DigitalOut fwd(p22);
+DigitalOut rev(p23);
 
-    /*
-    0 : east
-    1 : north
-    2 : west
-    3 : south
-    4 : center
-    */
-
-    float* readings = new float[num_pads];
-    readings[0] = s_e;
-    readings[1] = s_n;
-    readings[2] = s_w;
-    readings[3] = s_s;
-    readings[4] = s_c;
-    
-    int* averages = new int[num_pads];
-    averages[0] = avg_e;
-    averages[1] = avg_n;
-    averages[2] = avg_w;
-    averages[3] = avg_s;
-    averages[4] = avg_c;
-    
-    
-    int* indices = new int[num_pads];
-    indices[0] = pad_e_i;
-    indices[1] = pad_n_i;
-    indices[2] = pad_w_i;
-    indices[3] = pad_s_i;
-    indices[4] = pad_c_i;
-    
-    int** data_arrs = new int*[num_pads];
-    data_arrs[0] = pade_data;
-    data_arrs[1] = padn_data;
-    data_arrs[2] = padw_data;
-    data_arrs[3] = pads_data;
-    data_arrs[4] = padc_data;
-    
-    int* newest_vals = new int[num_pads];
-    newest_vals[0] = newest_e;
-    newest_vals[1] = newest_n;
-    newest_vals[2] = newest_w;
-    newest_vals[3] = newest_s;
-    newest_vals[4] = newest_c;
-    
-    int* totals = new int[num_pads];
-    totals[0] = total_e;
-    totals[1] = total_n;
-    totals[2] = total_w;
-    totals[3] = total_s;
-    totals[4] = total_c;
-    
-    int* outlier_cts = new int[num_pads];
-    outlier_cts[0] = outlier_countE;
-    outlier_cts[1] = outlier_countN;
-    outlier_cts[2] = outlier_countW;
-    outlier_cts[3] = outlier_countS;
-    outlier_cts[4] = outlier_countC;
+//Motor pmp(p21, p22, p23, 0); // pwm,fwd,rev
 
-    int i;
-    
-    //char* out = new char[40];
-    
-    
-    // specify period first
-    pump.period(1.0f);      // 4 second period
-    pump.write(0.75f);      // 50% duty cycle, relative to period
-    //led = 0.5f;          // shorthand for led.write()
-    //led.pulsewidth(2);   // alternative to led.write, set duty cycle time in seconds
-    while(1);
-    
-    //int avg;
-    
-    /*
-    while(1) {
-        
-        i++;
-        pump.write(1);
-        if (i == 1000) {
-            pump.write(0);
-            while(1) {};
-        }
-        
-    }
-    */
-        /*
-        s_w = senseW.read();
-        s_e = senseE.read();
-        s_n = senseN.read();
-        s_s = senseS.read();
-        s_c = senseC.read();
-        */
-        
-        /*
-        newest_w = (int) s_w * 100;
-        newest_e = (int) s_e * 100;
-        newest_n = (int) s_n * 100;
-        newest_s = (int) s_s * 100;
-        newest_c = (int) s_c * 100;
-        */
-        
-        /*
-        printf("      %1.2f     \n", s_n);
-        printf("%1.2f  %1.2f  %1.2f\n", s_w, s_c, s_e);
-        printf ("      %1.2f     \n\n", s_s);
-        */
-        
-        /*
-        for (i=0; i<num_pads; i++) {
-            
-            if (i==0) {
-                readings[0] = senseE.read();
-            } else if (i==1) {
-                readings[1] = senseN.read();
-            } else if (i==2) {
-                readings[2] = senseW.read();
-            } else if (i==3) {
-                readings[3] = senseS.read();
-            } else if (i==4) {
-                readings[4] = senseC.read();
-            }
-            
-            // maybe << 7 to make this faster?
-            newest_vals[i] = readings[i] * 100;
-            
-            
-            
-            if (indices[i] < pad_buffer_size - 1) {
-                data_arrs[i][indices[i]] = newest_vals[i];
-                totals[i] += newest_vals[i];
-                indices[i]++;
-            } else {
-                // get index of last updated value
-                indices[i] = (indices[i] + 1) % pad_buffer_size;
-                // remove oldest value from the total
-                totals[i] -= data_arrs[i][indices[i]];
-                // update loc. of oldest value with new value
-                data_arrs[i][indices[i]] = newest_vals[i];
-                // update total w/ newest value
-                totals[i] += newest_vals[i];
-            }
-            averages[i] = totals[i] / pad_buffer_size;
-        }
-        printf("    %2i     \n", (int) newest_vals[1]);
-        printf("%2i  %2i  %2i\n", (int) newest_vals[2], (int) newest_vals[4], (int) newest_vals[0]);
-        printf ("    %2i     \n\n", (int) newest_vals[3]);
-
-        // is newest E value more than 1.5x average?
-        if (newest_vals[0] > averages[0] + (averages[0] / 2)) {
-            if (outlier_cts[0] == 2) {
-                led_e = 1;
-            } else {
-                outlier_cts[0]++;
-            }
-        } else {
-            outlier_cts[0] = 0;
-            led_e = 0;
-        }
-
-        if (newest_vals[1] > averages[1] + (averages[1] / 2)) {
-            if (outlier_cts[1] == 2) {
-                led_n = 1;
-            } else {
-                outlier_cts[1]++;
-            }
-        } else {
-            outlier_cts[1] = 0;
-            led_n = 0;
-        }
-
-        if (newest_vals[2] > averages[2] + (averages[2] / 2)) {
-            if (outlier_cts[2] == 2) {
-                led_w = 1;
-            } else {
-                outlier_cts[2]++;
-            }
-        } else {
-            outlier_cts[2] = 0;
-            led_w = 0;
-        }
-
-        if (newest_vals[3] > averages[3] + (averages[3] / 2)) {
-            if (outlier_cts[3] == 2) {
-                led_s = 1;
-            } else {
-                outlier_cts[3]++;
-            }
-        } else {
-            outlier_cts[3] = 0;
-            led_s = 0;
-        }
-
-        if (newest_vals[4] > averages[4] + (averages[4] / 2)) {
-            if (outlier_cts[4] == 2) {
-                led_c = 1;
-            } else {
-                outlier_cts[4]++;
-            }
-        } else {
-            outlier_cts[4] = 0;
-            led_c = 0;
-        }
-        */
-        //wait(1);
-
-        
-    }
\ No newline at end of file
+#include "Motor.h"
+ 
+Motor m(p23, p6, p5); // pwm, fwd, rev
+ 
+int main() {
+    m.speed(1.0);
+}
\ No newline at end of file