Diff: main.cpp

Revision:

1:06beb0d8958a

Parent:

0:a66bf82d70ed

diff -r a66bf82d70ed -r 06beb0d8958a main.cpp
--- a/main.cpp	Thu Apr 26 15:37:12 2018 +0000
+++ b/main.cpp	Sun Apr 29 16:59:11 2018 +0000
@@ -2,8 +2,8 @@
 // full reverse to full stop, dynamicaly brake and switch off.
 #include "mbed.h"
 #include "Motor.h"
-Motor A(p22, p6, p5); // pwm, fwd, rev, can brake 
-Motor B(p21, p7, p8); // pwm, fwd, rev, can brake
+Motor B(p23, p6, p5); // pwm, fwd, rev, can brake //right?
+Motor A(p24, p7, p8); // pwm, fwd, rev, can brake //left?
 
 
 //End Device Setup for XBEE End Device
@@ -13,8 +13,11 @@
 //Movement Indicators
 DigitalOut myled1(LED1);
 DigitalOut myled2(LED2);
-DigitalOut myled3(LED2);
-DigitalOut myled4(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+//debug
+Serial pc(USBTX, USBRX);
 
 // Default Value for command to wait
 char command = 'W';
@@ -35,6 +38,9 @@
             //pc.printf("Command: %c\n\r",command);
         }
         
+//        pc.printf("%c",command);
+//        pc.printf("\n\r");
+        
         switch (command){
             case 'A': // Move back speed 1
                 A.speed(-0.5);
@@ -45,7 +51,7 @@
                 myled3 = 0;
                 myled4 = 0;
                 
-                wait(0.5);
+                //wait(0.5);
                 break;
             case 'B': // Move back speed 2
                 A.speed(-1);
@@ -56,7 +62,7 @@
                 myled3 = 0;
                 myled4 = 0;
                 
-                wait(0.5);
+                //wait(0.5);
                 break;
             case 'C': // Move right speed 1
                 A.speed(0.5);
@@ -67,7 +73,7 @@
                 myled3 = 0;
                 myled4 = 0;
                 
-                wait(0.5);
+                //wait(0.5);
                 break;
             case 'D': // Move right speed 2
                 A.speed(1);
@@ -78,7 +84,7 @@
                 myled3 = 0;
                 myled4 = 0;
                 
-                wait(0.5);
+                //wait(0.5);
                 break;
             case 'E': // Move forward speed 1
                 A.speed(0.5);
@@ -89,7 +95,7 @@
                 myled3 = 1;
                 myled4 = 0;
                 
-                wait(0.5);
+                //wait(0.5);
                 break;
             case 'F': // Move forward speed 2
                 A.speed(1);
@@ -100,7 +106,7 @@
                 myled3 = 1;
                 myled4 = 0;
                 
-                wait(0.5);
+                //wait(0.5);
                 break;
             case 'G': // Move left speed 1
                 A.speed(0);
@@ -111,7 +117,7 @@
                 myled3 = 0;
                 myled4 = 1;
                 
-                wait(0.5);
+                //wait(0.5);
                 break;
             case 'H': // Move left speed 2
                 A.speed(0);
@@ -122,29 +128,29 @@
                 myled3 = 0;
                 myled4 = 1;
                 
-                wait(0.5);
+                //wait(0.5);
                 break;
             case 'I': // Stop
-                A.speed(-0.5);
-                B.speed(-0.5);
+                A.speed(0.0);
+                B.speed(0.0);
                 
                 myled1 = 1;
                 myled2 = 1;
                 myled3 = 1;
                 myled4 = 1;
+                break;
                 
-                wait(0.5);
+                //wait(0.5);
                 
             case 'W': // Stop if nothing else is coming in 
-                A.speed(0);
-                B.speed(0);
+                A.speed(0.0);
+                B.speed(0.0);
                 
                 myled1 = 0;
                 myled2 = 0;
                 myled3 = 0;
                 myled4 = 0;
-                
-                wait(0.5);
+                //wait(0.5);
 
             }
         }