Diff: main.cpp

Revision:

20:7e6d56655336

Parent:

19:3da61e637b2d

Child:

21:1c04c4afe3b7

--- a/main.cpp	Sun Jan 24 08:39:14 2016 +0000
+++ b/main.cpp	Sun Jan 24 09:05:17 2016 +0000
@@ -57,6 +57,10 @@
 PID Up_PID(U_Kc, U_Ti, U_Td, 0.001);//Kp,Ki,Kd,Rate
 PID Low_PID(L_Kc, L_Ti, L_Td, 0.001);
 //*****************************************************/
+
+DigitalOut myled(LED1);
+
+
 void Read_Encoder(PinName Encoder)
 {
     ENC.format(8,0);
@@ -418,28 +422,31 @@
 /*******************************************************/
 void Rc()
 {
+    //myled =1;
     uint8_t data_array[30];
     uint8_t id;
     uint8_t ins;
     uint8_t status;
 
+    
+
     status = com.ReceiveCommand(&id,data_array,&ins);
     if(status == ANDANTE_ERRBIT_NONE) {
         CmdCheck((int16_t)id,data_array,ins);
     }
+    //myled =0;
 }
 /*******************************************************/
 int main()
 {
-    while(1) {
-        Rc();
-    }
-    /*Recieve.attach(&Rc,0.000001);
-    Start_Up();
+  
+    //Recieve.attach(&Rc,0.080);
+    //Start_Up();
     SET_UpperPID();
     SET_LowerPID();
 
     while(1) {
+///////////////////////////////////////////////////// start
         //Set Set_point
         Up_PID.setSetPoint(Upper_SetPoint);
         Low_PID.setSetPoint(Lower_SetPoint);
@@ -447,7 +454,8 @@
         //Control Motor
         Move_Upper();
         Move_Lower();
-    }*/
+/////////////////////////////////////////////////////  stop =306us
+    }
 }