Diff: main.cpp

Revision:

1:1d18a2e8ce45

Parent:

0:dde6e4d8c301

Child:

2:a04440f0d001

--- a/main.cpp	Thu May 09 11:27:32 2019 +0000
+++ b/main.cpp	Thu May 23 08:53:48 2019 +0000
@@ -1,30 +1,27 @@
 #include "mbed.h"
+#include "motor.h"
 
+MotorCtl motor1(D3,D12,D4,D5);
+InterruptIn tachoINT1(D4);
+InterruptIn tachoINT2(D5);
 Serial pc(USBTX,USBRX,115200);
-DigitalOut led(LED2);
-
-void rx_cn(void){ 
 
-    while(true){
-        char ch;
-        ch =pc.getc();
-        pc.putc(ch);
-        
-        if(ch ==0x0D){
-            pc.putc(0x0A);
-           }
-        
-    }
+void update_current(void){
+    motor1.UpdateCurrentPosition();
+  //  pc.printf("Update Position\r\n");
+}
+
 
+int main(){
+    tachoINT1.fall(&update_current);
+    tachoINT1.rise(&update_current);
+    tachoINT2.fall(&update_current);
+    tachoINT2.rise(&update_current);
+    
+    while(1){
+        }
+    
 }
 
 
 
-int main(){
-    pc.attach(&rx_cn);
-    while(1){
-        wait(1);
-        led = !led;    
-        
-    }
-}
\ No newline at end of file