Revision 14:3ffd5961aa8e, committed 2018-12-04

Comitter:

Normanski

Date:

Tue Dec 04 09:49:00 2018 +0000

Parent:

13:40631fdbece2

Commit message:

Initial

Changed in this revision

diff -r 40631fdbece2 -r 3ffd5961aa8e main.cpp
--- a/main.cpp	Mon Feb 06 20:38:25 2017 +0000
+++ b/main.cpp	Tue Dec 04 09:49:00 2018 +0000
@@ -126,6 +126,40 @@
     MAX32630FTHR pegasus;
     pegasus.init(MAX32630FTHR::VIO_3V3);
     
+    /*
+     * Do motor driver testing here.
+     * P4_0 = FWD1(Logic_LvL)
+     * P5_6 = REV1(Logic_LvL)
+     * P5_5 = FWD2(Logic_Lvl)
+     * P5_4 = REV2(Logic_Lvl)
+     * Logic Table:
+     * OpMode: FWD (M1=VDD, M2=GND)
+     *   - FWD# = 1
+     *   - REV# = 0
+     *   - bEN  = 0
+     * OpMode: REV (M1=GND, M2=VDD)
+     *   - FWD# = 0
+     *   - REV# = 1
+     *   - bEN  = 0
+     * OpMode: BREAK (M1=GND, M2=GND)
+     *   - FWD# = 0
+     *   - REV# = 0
+     *   - bEN  = 0
+     */
+     DigitalOut FWD1(P4_0, 0);
+     DigitalOut REV1(P5_6, 0);
+     DigitalOut FWD2(P5_5, 0);
+     DigitalOut REV2(P5_4, 0);
+     
+     FWD1 = 0;
+     REV1 = 0;
+     FWD2=0;
+     REV2=0;
+     while(1) 
+     {
+            
+     }
+    /*************************************/
     static const float MAX_PULSEWIDTH_US = 40.0F;
     static const float MIN_PULSEWIDTH_US = -40.0F;
     
@@ -265,6 +299,7 @@
     
     if(failures == 0)
     {
+        printf("I got through! :)");
         printf("ACC Range = %d\n", accConfig.range);
         printf("ACC UnderSampling = %d\n", accConfig.us);
         printf("ACC BandWidthParam = %d\n", accConfig.bwp);
@@ -429,6 +464,7 @@
                     //based on sign of error signal (negation of pitch since setPoint = 0)
                     if(pulseWidth > MAX_PULSEWIDTH_US)
                     {
+                    
                         rightDir = FORWARD;
                         leftDir = FORWARD;
                         pulseWidth = 40.0F;
@@ -510,6 +546,7 @@
     {
         while(1)
         {
+            printf("I'M STUCKED!");
             rLED = !rLED;
             wait(0.25);
         }