Diff: main.cpp

Revision:

8:eefbd3880d28

Parent:

7:38def1917030

Child:

9:92895704e1a4

Child:

12:2847b345b5cf

--- a/main.cpp	Wed Mar 11 23:42:10 2015 +0000
+++ b/main.cpp	Thu Mar 12 12:18:25 2015 +0000
@@ -16,6 +16,10 @@
 //LED to test
 DigitalOut led(LED_RED);
 
+//Hall Effect Sensors
+InterruptIn hall_l (PTA1); //Hall Effect Sensor Output RobotLeft
+InterruptIn hall_r (PTA2); //Hall Effect Sensor Output RobotRight
+float time1_l, time2_l, time3_l, time1_r, time2_r, time3_r;
 //Bluetooth Module to debug
 Serial blue(PTC4,PTC3);
 
@@ -91,9 +95,40 @@
         }
     }
 }
+timer h_r, h_l;
+float hall_rt1, hall_lt1, hall_rt2, hall_lt2//hall right time & left time
+int h_f_r, h_f_l //hallflagright and left
+void hallr() //this just reading the various times.
+{
+    if (h_f_r==2) {
+        start.h_r();
+    } else if(h_f_r == 1) {
+        hall_rt1 = read.h_r();
+        h_f_r = 0;
+    } else if (h_f_l == 0) {
+        hall_rt2 = read.h_r();
+        h_f_r = 1;
+    }
+
+}
+void halll()
+{
+
+
+}
 int main()
 {
+    h_f_r = 2;
+    h_f_l = 2;
+    //attaching hall_r and hall_r so that it calls hall() on a rising and falling edge
+    hall_r.rise(&hallr());
+    hall_r.fall(&hallr());
+
+    hall_l.rise(&halll());
+    hall_l.fall(&halll());
 //Set PWM frequency to 1000Hz
+
+
     motor_l.period( 1.0f / (float) PWM_FREQ);
     motor_r.period( 1.0f / (float) PWM_FREQ);
 //Initialise direction to nothing.
@@ -104,6 +139,13 @@
     int direction = 0x11;
     char rem_dir[2]; //remote_direction
 
+
+
+
+
+
+    /*BLUETOOTH TEST
+
     while(1) {
 
 
@@ -150,9 +192,9 @@
         angle = input;
         */
 
-        //set_direction(direction, speed, angle);
-       
-    }
+    //set_direction(direction, speed, angle);
+
+    //}
 
     /* //Also Working Demo
     wait(2);