Diff: main.cpp

Revision:

3:d837b1626ac2

Parent:

2:8435af9e917a

Child:

4:464ccaee7062

--- a/main.cpp	Thu Feb 25 14:33:41 2016 +0000
+++ b/main.cpp	Fri Feb 26 14:13:18 2016 +0000
@@ -32,7 +32,7 @@
 DigitalOut pull28(PTD6);
 DigitalOut pull29(PTD7);
 
-DigitalOut pull30(PTE30);
+//DigitalOut pull30(PTE30);
 
 //DigitalOut pull38(PTE3);
 DigitalOut pull39(PTE2);
@@ -55,7 +55,7 @@
 PwmOut ENA(PTC9);
 PwmOut ENB(PTD4);
 
-DigitalOut indicator(LED_BLUE);
+DigitalOut indicator(LED_GREEN);
 
 //constant 3.3 volts for sensors
 DigitalOut constant1(PTE5);
@@ -88,6 +88,24 @@
 PwmOut motors(PTA12);
 DigitalOut solenoid(PTA4);
 
+//Ball dispensing
+Ticker sine_interrupt;
+AnalogOut Aout(PTE30);
+double interrupt_f = .00001525878;                  //  (1/2048*32)  
+static int sine_wave_steps = 32;                    // number of steps in sine wave
+int sine_counter = 0;
+static float sine_val[] = {.5,.5976,.6914,.7773,.8535,.9160,.9619,.9902,1,.9902,.9619,.9160,.8535,.7773,.6914,.5976,.5,.4023,.3085,.2226,.1464,.0839,.0380,.0097,0,.0097,.0380,.0839,.1464,.2226,.3085,.4023};
+
+
+void create_sine() {                                //subroutine for interrupt, creates sine wave
+    sine_counter = sine_counter + 1;                //run through sine array
+    if (sine_counter >= sine_wave_steps){
+           sine_counter = 0;                            //repeat sine wave
+    }
+    Aout = sine_val[sine_counter];                  //output decimal 0-1 on DAC
+}
+
+
 int main() {
     
     
@@ -121,7 +139,7 @@
     pull27=0;
     pull28=0;
     pull29=0;
-    pull30=0;
+    //pull30=0;
     //pull34=0;
     //pull35=0;
     //pull38=0;
@@ -154,8 +172,6 @@
     indicator=1;
     wait(0.3);
     indicator=0;
-    wait(0.3);
-    indicator=1;
     
     ENA.period(0.001);
     ENB.period(0.001);
@@ -167,7 +183,7 @@
     //set inital pwm values for motor driver outputs        
     ENA=0;
     ENB=0;
-    
+    //You´ll never be the real slim shady 
     int counter=0;
     
     while(1) {
@@ -201,13 +217,17 @@
                 ENA=0;
                 if(front==0){
                     //shoot balls
-                    motors=0.15;
+                    motors=0.095;
                     wait_ms(550);
                     solenoid=1;
                     wait_ms(45);
                     solenoid=0;                    
+                }else{
+                    //dispense balls 
+                    //sine_interrupt.attach(&create_sine , interrupt_f); // function called by interrupt, frequency of interrupts                      
                 }
-                wait(3);   
+                wait(3);  
+                //__disable_irq(); 
                 motors=0;             
             }