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Dependencies:   mbed-rtos mbed PinDetect

Fork of FinalMotorControl by Robot Bachelor

Files at this revision

API Documentation at this revision

Revision 4:4d655fdae399, committed 2016-04-13

Comitter:
mjhaugsdal
Date:
Wed Apr 13 10:10:23 2016 +0000
Parent:
3:15be78948724
Child:
5:fdc7a779d525
Commit message:
Made new cases for m_cmd to control speed and direction in the same case;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Apr 08 13:27:08 2016 +0000
+++ b/main.cpp	Wed Apr 13 10:10:23 2016 +0000
@@ -87,28 +87,43 @@
         
         while (true) 
         {
+            //Thread::wait(5);
             
-    
+            //0 STEPS LEFT AT MAX SPEED
             if (m_cmd == '0')
             {
+                fart = 1000;
                 global_direction = '0';
                 step4Left();
+                //printf("LEFT \n");
                 //printf("%c \n" + global_direction); 
             } 
+            //1 STEPS RIGHT AT MAX SPEED
             else if (m_cmd == '1')
             {
+                fart = 1000;
                 global_direction = '1';
                 step4Right();
                 //printf("RIGHT \n"); 
+                
             } 
+                else
+            {
+                global_direction = 'x';
+            }
             if (m_cmd == 'a')
             {
-                fart = 1000;
+                fart =  2000;
+                global_direction = '1';
+                step4Right();
                 
             }
-            else if (m_cmd == 'b')
+
+            else if (m_cmd == 'c')
             {
-                fart = 5000;
+                fart = 2000;
+                global_direction = '0';
+                step4Left();
             }
             if (global_direction =='0')
             {
@@ -118,10 +133,7 @@
             {
                 step4Right();
             }
-            else
-            {
-                global_direction = 'x';
-            }
+
         }  
             
 } //END Main