Diff: main.cpp

Revision:

3:569b35e2a602

Parent:

2:4e88faab6988

Child:

4:1cb32cb438ee

Child:

5:08f338b5e4d9

diff -r 4e88faab6988 -r 569b35e2a602 main.cpp
--- a/main.cpp	Tue Feb 28 14:44:23 2017 +0000
+++ b/main.cpp	Thu Mar 01 09:41:46 2018 +0000
@@ -1,5 +1,4 @@
 #include "mbed.h"
-#include "rtos.h"
 
 //Photointerrupter input pins
 #define I1pin D2
@@ -38,7 +37,7 @@
 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
 
 //Phase lead to make motor spin
-const int8_t lead = -2;  //2 for forwards, -2 for backwards
+const int8_t lead = 2;  //2 for forwards, -2 for backwards
 
 //Status LED
 DigitalOut led1(LED1);
@@ -88,7 +87,7 @@
 int8_t motorHome() {
     //Put the motor in drive state 0 and wait for it to stabilise
     motorOut(0);
-    wait(1.0);
+    wait(2.0);
     
     //Get the rotor state
     return readRotorState();
@@ -97,11 +96,11 @@
 //Main
 int main() {
     int8_t orState = 0;    //Rotot offset at motor state 0
+    int8_t intState = 0;
+    int8_t intStateOld = 0;
     
     //Initialise the serial port
     Serial pc(SERIAL_TX, SERIAL_RX);
-    int8_t intState = 0;
-    int8_t intStateOld = 0;
     pc.printf("Hello\n\r");
     
     //Run the motor synchronisation