Diff: main.cpp

Revision:

6:1056ed1d6d97

Parent:

5:92510334cdfe

Child:

7:1e5fa5952695

--- a/main.cpp	Fri Mar 01 15:34:17 2019 +0000
+++ b/main.cpp	Mon Mar 04 10:52:03 2019 +0000
@@ -5,13 +5,13 @@
 #define ON 1
 
 //For motor control
-#define PWM_PERIOD_US 100 //For setting PWM periods to 1 milliseconds. I made this number up
+#define PWM_PERIOD_US 30000 //For setting PWM periods to 1 milliseconds. I made this number up
 #define STOP 0
 #define FORWARD 1
 #define BACKWARD 2
 //For line following, use the previous defines and the follwoing
-#define LEFT 4
-#define RIGHT 3
+#define LEFT 3
+#define RIGHT 4
 
 DigitalOut redled(LED_RED); //Debiug LED
 DigitalOut blueled(LED_BLUE);
@@ -19,7 +19,6 @@
 I2C i2c(PTC9, PTC8); //pins for I2C communication (SDA, SCL)
 
 
-
 //Set PWMs for controlling the H-bridge for the motor speed
 PwmOut PWMmotorLeft(PTA4); //Connect to EN1 of L298N
 PwmOut PWMmotorRight(PTA5); //Connect to EN1 of L298N
@@ -30,9 +29,9 @@
 DigitalOut solenoid(PTC3); //Switch for the solenoid
 
 //For black line detection
-AnalogIn QTR3A_3(PTB0);
+AnalogIn QTR3A_1(PTB0);
 AnalogIn QTR3A_2(PTB1);
-AnalogIn QTR3A_1(PTB2);
+AnalogIn QTR3A_3(PTB2);
 
 Serial bluetooth(PTE0,PTE1);
 
@@ -180,22 +179,22 @@
          
         case FORWARD:
             goForward();
-            setSpeed(10);
+            setSpeed(PWM_PERIOD_US * 0.3);
             break;   
         
         case BACKWARD:
             goBackward();
-            setSpeed(10);
+            setSpeed(PWM_PERIOD_US * 0.3);
             break;
         
         case LEFT:
             turnLeft();
-            setSpeed(10);
+            setSpeed(PWM_PERIOD_US * 0.3);
             break;
             
         case RIGHT:
             turnRight();
-            setSpeed(10);
+            setSpeed(PWM_PERIOD_US * 0.3);
             break;  
     }
 }
@@ -486,6 +485,8 @@
     return direction;
 }
 
+
+
 void bluetoothControl(MotorController motorController) {
      bluetooth.baud(9600);
     
@@ -601,10 +602,11 @@
     
     
     //Start off going straight
-    motorController.setSpeed(700);
+    motorController.setSpeed(PWM_PERIOD_US * 0.2);
     motorController.goForward();
 
 
+
     while(true) {
         redled = !redled;
         
@@ -612,6 +614,8 @@
             bluetoothControl(motorController);
             }
         
+    
+        
         lineFollower.readSensors();
         motorController.changeDirection(lineFollower.chooseDirection());
         
@@ -651,9 +655,6 @@
         }
         
         blueled = !blueled;
-        
-        wait(0.5);
-                
     }              
         
 }