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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 12:de8381ca371d, committed 2016-04-26

Comitter:
mjhaugsdal
Date:
Tue Apr 26 13:39:14 2016 +0000
Parent:
11:ef54754100ea
Child:
13:9aa772ae6057
Commit message:
Added void methods to each thread

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Apr 26 13:28:52 2016 +0000
+++ b/main.cpp	Tue Apr 26 13:39:14 2016 +0000
@@ -55,34 +55,7 @@
     wait_us(fart);
 }
 */
-void step4Right2()
-{
 
-   //engine 2
-    IN5=0;
-    IN6=1;
-    IN7=0;
-    IN8=1;
-    wait_us(fart);
-    //engine 2
-    IN5=0;
-    IN6=1;
-    IN7=1;
-    IN8=0;
-    wait_us(fart);
-    //engine 2
-    IN5=1;
-    IN6=0;
-    IN7=1;
-    IN8=0;
-    wait_us(fart);
-    //engine 2
-    IN5=1;
-    IN6=0;
-    IN7=0;
-    IN8=1;
-    wait_us(fart);
-}
 
 void step4Right1()
 {
@@ -147,38 +120,7 @@
 }
 
 */
-void step4Left2()
-{
-    //engine 2
-    IN5=1;
-    IN6=0;
-    IN7=0;
-    IN8=1;
-    wait_us(fart);
 
-    
-    //engine 2
-    IN5=1;
-    IN6=0;
-    IN7=1;
-    IN8=0;
-    wait_us(fart);
-    
-    //engine 2
-    IN5=0;
-    IN6=1;
-    IN7=1;
-    IN8=0;
-    wait_us(fart);
-    
-    //engine 2
-    IN5=0;
-    IN6=1;
-    IN7=0;
-    IN8=1;
-    wait_us(fart);
-    
-}
 
 void step4Left1()
 {
@@ -214,6 +156,68 @@
 
 void motor2(void const *args)
 {
+    void step4Right2()
+{
+
+   //engine 2
+    IN5=0;
+    IN6=1;
+    IN7=0;
+    IN8=1;
+    wait_us(fart);
+    //engine 2
+    IN5=0;
+    IN6=1;
+    IN7=1;
+    IN8=0;
+    wait_us(fart);
+    //engine 2
+    IN5=1;
+    IN6=0;
+    IN7=1;
+    IN8=0;
+    wait_us(fart);
+    //engine 2
+    IN5=1;
+    IN6=0;
+    IN7=0;
+    IN8=1;
+    wait_us(fart);
+}
+
+void step4Left2()
+{
+    //engine 2
+    IN5=1;
+    IN6=0;
+    IN7=0;
+    IN8=1;
+    wait_us(fart);
+
+    
+    //engine 2
+    IN5=1;
+    IN6=0;
+    IN7=1;
+    IN8=0;
+    wait_us(fart);
+    
+    //engine 2
+    IN5=0;
+    IN6=1;
+    IN7=1;
+    IN8=0;
+    wait_us(fart);
+    
+    //engine 2
+    IN5=0;
+    IN6=1;
+    IN7=0;
+    IN8=1;
+    wait_us(fart);
+    
+}
+    
     while(true)
     {
         if(m_cmd == 't')