Diff: main.cpp

Revision:

22:f6e328f7bd28

Parent:

21:9f3ae352ee63

Child:

23:ad08a8eabc24

--- a/main.cpp	Tue May 03 13:25:25 2016 +0000
+++ b/main.cpp	Thu May 05 09:24:43 2016 +0000
@@ -21,7 +21,7 @@
 DigitalOut IN12(D11);
 
 
-static int fart = 1000;
+static int fart = 1300;
 static char m_cmd = 'x';
 
 
@@ -368,7 +368,7 @@
         
         }
          
-        Thread::wait(10);
+        Thread::wait(20);
         //pc.printf("%d", steps);
     }
 }
@@ -377,19 +377,31 @@
 {
         //Thread 1 has constant feed from usb
         Thread t1(input);
-        static char global_direction;
+        //static char global_direction;
         printf("Started");
         
+        /*
+        
+        BOOT UP AND SYNCHRONIZE
+        
+        */
+        
+        
         
         while (true) 
-        {
-            //Thread::wait(5);
+        {   
+            if(m_cmd == 'a')
+            {
+                stepAllRight();
+            }         
+            
+            else if (m_cmd == 'b')
+            {
+                stepAllLeft();
+
+            }
             
    /*
-       
- 
-
-  
             else if (m_cmd == 'k')
             {
                 int steps = 242;
@@ -424,46 +436,45 @@
             //Make all engines halt and hold still. 
             if (m_cmd == 'x')
             {
-                Thread::wait(5);
             }
   
             //Controlling each motor seperately.
             //ENGINE 1
             if(m_cmd == '7')
             {
-                //fart = 1200;
+                
                 stopE1();
                 stepEngine1Left();
             }
             else if (m_cmd == '9')
             {
-                //fart = 1200;
+                
                 stopE1();
                 stepEngine1Right();
             }
             //ENGINE 2
             else if (m_cmd == '4')
             {
-                //fart = 1200;
+                
                 stopE2();
                 stepEngine2Left();
             }
             else if (m_cmd == '6')
             {
-                //fart = 1200;
+                
                 stopE2();
                 stepEngine2Right();
             }
             //ENGINE 3
             else if (m_cmd == '1')
             {
-                //fart = 1200;
+                
                 stopE3();
                 stepEngine3Left();
             }
             else if (m_cmd == '3')
             {
-                //fart = 1200;
+                
                 stopE3();
                 stepEngine3Right();
             }