Diff: main.cpp

Revision:

2:6197e1cf2cd1

Parent:

1:9bc7f95c3c7d

Child:

3:df6160e2f6d9

--- a/main.cpp	Thu Oct 24 13:35:54 2019 +0000
+++ b/main.cpp	Thu Oct 24 14:24:27 2019 +0000
@@ -3,6 +3,7 @@
 Description: Main program loop
 --------------------------------------------------------------------------------*/
 #include "mbed.h"
+#include "Motor.h"
 #include "TOF.h"
 
 Serial pc(SERIAL_TX, SERIAL_RX, 9600);    // set-up serial to pc
@@ -14,6 +15,7 @@
 DigitalOut TOF7(PG_2);
 
 cAdafruit_VL6180X VL6180X(TOF1,TOF3,TOF5,TOF7);  //Define TOF sensor class and initialise devices
+cMotor LMotor(M1_PWM, M1_IN1, M1_IN2), RMotor(M2_PWM, M2_IN1, M2_IN2);
 
 /*--------------------------------------------------------------------------------
 Function name: ServiceTOF
@@ -49,6 +51,9 @@
     uint8_t TOFRange[4]; //Array to store TOF measurements 0-sensor1, 1-sensor3, 2-sensor5, 3-sensor7
     
     while(1) {
+        //LMotor.Backwards(0.2);
+        //RMotor.Backwards(0.2);    
+        
         
         //Perform TOF measurements
         TOFRange[0] = serviceTOF(ADDR1);
@@ -61,5 +66,6 @@
         
         //Short delay
         wait(0.1);
+        
     }
 }
\ No newline at end of file