Diff: main.cpp

Revision:

1:490b793b2e61

Parent:

0:7d55d6ace996

Child:

2:95955f38f47a

--- a/main.cpp	Tue May 20 14:51:25 2014 +0000
+++ b/main.cpp	Wed May 21 01:23:04 2014 +0000
@@ -1,6 +1,8 @@
 #include "mbed.h"
 #include "XBee.h"
 #include "MBed_Adafruit_GPS.h"
+#include "VNH5019.h"
+
 /////////////////////////////////////////
 //
 //Connection Setting
@@ -25,17 +27,7 @@
 /////////////////////////////////////////
 
 //Motor & Encorder Setting
-//Left
-DigitalOut motorL_A(p21);
-DigitalOut motorL_B(p22);
-PwmOut motorL_pwm(p23);
-InterruptIn encoderR_A(p15);
-InterruptIn encoderR_B(p16);
-
-//Rignt
-DigitalOut motorR_A(p24);
-DigitalOut motorR_B(p25);
-PwmOut motorR_pwm(p26);
+VNH5019 motorShield(p21,p22,p23,p24,p25,p26);
 
 //test data
 Ticker axis;
@@ -113,70 +105,8 @@
     uint8_t b[4];
 };
 
-
-
-
 UNI_TEST_T latH,latL,lonH,lonL;
 
-
-    
-    
-    
-/////////////////////////////////////////
-//
-//Change Motor State Processing
-//
-/////////////////////////////////////////    
-void change_speed(unsigned char L_state,unsigned char L_pwm,unsigned char R_state,unsigned char R_pwm){
-    switch(L_state){
-        case 0:
-            motorL_A = 0;
-            motorL_B = 0;
-            break;
-        
-        case 1:
-            motorL_A = 1;
-            motorL_B = 0;
-            break;        
-        
-        case 2:
-            motorL_A = 0;
-            motorL_B = 1;
-           break;
-           
-        default: 
-            motorL_A = 0;
-            motorL_B = 0;        
-            break;
-        }
-    
-    motorL_pwm = (float)L_pwm/256.0;
-    
-    switch(R_state){
-        case 0:
-            motorR_A = 0;
-            motorR_B = 0;
-            break;        
-        
-        case 1:
-            motorR_A = 1;
-            motorR_B = 0;
-            break;
-        
-        case 2:
-            motorR_A = 0;
-            motorR_B = 1;        
-            break;
-            
-        default: 
-            motorR_A = 0;
-            motorR_B = 0;
-            break;
-        }
-    motorR_pwm = (float)R_pwm/256.0;    
-    
-    }
-
 /////////////////////////////////////////
 //
 //Interruption processing 1: time -> 0.1s
@@ -204,7 +134,7 @@
     
     
     if(manual_count > 100){
-        change_speed(0,0,0,0);
+        motorShield.changeSpeed(0,0,0,0);
         manual_count = 0;
     }
     
@@ -225,11 +155,11 @@
  void randomRenovation(){
     
     if(count < 30){
-        change_speed(1,127,1,127);
+        motorShield.changeSpeed(1,127,1,127);
     }
     
     else{
-        change_speed(1,127,2,127);
+        motorShield.changeSpeed(1,127,2,127);
         if(count > 35) count = 0;
         } 
     count++;
@@ -282,8 +212,6 @@
        
     //interrupt start
     axis.attach(&axisRenovation, 0.1);
-    motorL_pwm = 0.0;
-    motorR_pwm = 0.0;
     
     refresh_Timer.start();
     
@@ -301,7 +229,7 @@
                     //ChanegeMode
                     case 'C':{
                         my_mode = buf[19];
-                        change_speed(0,0,0,0);
+                        motorShield.changeSpeed(0,0,0,0);
                         
                         if(my_mode == 2)  auth_axis.attach(&randomRenovation, 1.0);
                         else auth_axis.detach();
@@ -312,7 +240,7 @@
                     case 'M':{  
                             if(my_mode == 1){ 
                             manual_count = 0;
-                            change_speed(buf[20],buf[21],buf[23],buf[24]);
+                            motorShield.changeSpeed(buf[20],buf[21],buf[23],buf[24]);
                             
                             }
                         break;