Diff: main.cpp

Revision:

2:a227732e1412

Parent:

0:e611a0b9f02a

--- a/main.cpp	Mon Apr 16 13:43:06 2018 +0000
+++ b/main.cpp	Mon Apr 16 14:18:35 2018 +0000
@@ -4,35 +4,33 @@
 #include "Controller.h"
 #include "IRSensor.h"
 
-DigitalOut myled(LED1);
+// DigitalOut myled(LED1);
 
-DigitalOut led0(PC_8);
-DigitalOut led1(PC_6);
-DigitalOut led2(PB_12);
-DigitalOut led3(PA_7);
-DigitalOut led4(PC_0);
-DigitalOut led5(PC_9);
+//DigitalOut led0(PC_8);
+//DigitalOut led1(PC_6);
+//DigitalOut led2(PB_12);
+//DigitalOut led3(PA_7);
+//DigitalOut led4(PC_0);
+//DigitalOut led5(PC_9);
 
-AnalogIn distance(PB_1);
-DigitalOut enable(PC_1);
-DigitalOut bit0(PH_1);
-DigitalOut bit1(PC_2);
-DigitalOut bit2(PC_3);
+//AnalogIn distance(PB_1);
+//DigitalOut enable(PC_1);
+//DigitalOut bit0(PH_1);
+//DigitalOut bit1(PC_2);
+//DigitalOut bit2(PC_3);
 
-IRSensor irSensor0(distance, bit0, bit1, bit2, 0);
-IRSensor irSensor1(distance, bit0, bit1, bit2, 1);
-IRSensor irSensor2(distance, bit0, bit1, bit2, 2);
-IRSensor irSensor3(distance, bit0, bit1, bit2, 3);
-IRSensor irSensor4(distance, bit0, bit1, bit2, 4);
-IRSensor irSensor5(distance, bit0, bit1, bit2, 5);
+IRSensor irSensorF(PC_2);
+IRSensor irSensorR(PC_3);
+IRSensor irSensorL(PC_5);
 
+BottomSensor lineDetector(RX/D0);
 
 DigitalOut enableMotorDriver(PB_2);
 DigitalIn motorDriverFault(PB_14);
 DigitalIn motorDriverWarning(PB_15);
 
-PwmOut pwmLeft(PA_8);
-PwmOut pwmRight(PA_9);
+PwmOut pwmLeft(PA_9);
+PwmOut pwmRight(PA_8);
 
 EncoderCounter counterLeft(PB_6, PB_7);
 EncoderCounter counterRight(PA_6, PC_7);
@@ -51,23 +49,23 @@
 
         myled =! myled;
 
-        if (irSensor0.read() < 0.2f) led0 = 1;
+        if (irSensorf.read() < 0.2f) led0 = 1;
         else led0 = 0;
         
-        if (irSensor1.read() < 0.2f) led1 = 1;
+        if (irSensorR.read() < 0.2f) led1 = 1;
         else led1 = 0;
         
-        if (irSensor2.read() < 0.2f) led2 = 1;
+        if (irSensorL.read() < 0.2f) led2 = 1;
         else led2 = 0;
         
-        if (irSensor3.read() < 0.2f) led3 = 1;
-        else led3 = 0;
+        //if (irSensor3.read() < 0.2f) led3 = 1;
+        //else led3 = 0;
         
-        if (irSensor4.read() < 0.2f) led4 = 1;
-        else led4 = 0;
+        //if (irSensor4.read() < 0.2f) led4 = 1;
+        //else led4 = 0;
         
-        if (irSensor5.read() < 0.2f) led5 = 1;
-        else led0 = 5;
+        //if (irSensor5.read() < 0.2f) led5 = 1;
+        //else led0 = 5;
         
         printf("iSumLeft: %f, iSumRight: %f, counterDiff; %d \n\r", controller.getIntegralLeft(), controller.getIntegralRight(), (counterLeft.read()+counterRight.read()));