Diff: main.cpp

Revision:

2:93dcfd18ccb4

Parent:

0:05da2ae2ad90

--- a/main.cpp	Mon Oct 14 10:01:30 2019 +0000
+++ b/main.cpp	Mon Oct 14 10:04:59 2019 +0000
@@ -1,68 +1,70 @@
-/* FXOS8700Q Example Program
- * Copyright (c) 2014-2015 ARM Limited
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
+/* mbed Microcontroller Library
+ * Copyright (c) 2018 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "mbed.h"
-#include "FXOS8700Q.h"
+#include "MODSERIAL.h"
+
+
+DigitalOut M1(D4);  //Direction control
+DigitalOut M2(D7);  //Direction control
+PwmOut E1(D5);      //Speed control
+PwmOut E2(D6);      //Speed control
+InterruptIn Btn1(A0);  //Potentionmeter
+InterruptIn Btn2(A1);  //Potentionmeter
+DigitalIn M1A(D2);  //Encoder
+DigitalIn M1B(D3);  //Encoder
 
-Serial pc(USBTX, USBRX);
-I2C i2c(PTE25, PTE24);
-//FXOS8700Q fxos(i2c, FXOS8700CQ_SLAVE_ADDR1);
-FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR1);    // Configured for the FRDM-K64F with onboard sensors
-FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR1);
-//FXOS8700QAccelerometer acc(i2c, FXOS8700CQ_SLAVE_ADDR0);    // Configured for use with the FRDM-MULTI shield
-//FXOS8700QMagnetometer mag(i2c, FXOS8700CQ_SLAVE_ADDR0);
+//float potVal1;
+//float potVal2;
+int EncA1;
+int EncB1;
+int counts = 0;
+int speedCount = 0;
+
+//Ticker readEnc
+
+MODSERIAL pc(USBTX, USBRX);
+
+void speedUp(){
+    speedCount++;
+}
+void speedDown(){
+    speedCount--;
+}
 
 
-int main(void)
-{
-    motion_data_units_t acc_data, mag_data;
-    motion_data_counts_t acc_raw, mag_raw;
-    float faX, faY, faZ, fmX, fmY, fmZ, tmp_float;
-    int16_t raX, raY, raZ, rmX, rmY, rmZ, tmp_int;
-
-    acc.enable();
-    mag.enable();
-    printf("FXOS8700QAccelerometer Who Am I= %X\r\n", acc.whoAmI());
-    printf("FXOS8700QMagnetometer Who Am I= %X\r\n", acc.whoAmI());
-    while (true) {
-        // counts based results
-        acc.getAxis(acc_raw);
-        mag.getAxis(mag_raw);
-        printf("ACC: X=%06dd Y=%06dd Z=%06dd \t MAG: X=%06dd Y=%06dd Z=%06dd\r\n", acc_raw.x, acc_raw.y, acc_raw.z, mag_raw.x, mag_raw.y, mag_raw.z);
-        acc.getX(raX);
-        acc.getY(raY);
-        acc.getZ(raZ);
-        mag.getX(rmX);
-        mag.getY(rmY);
-        mag.getZ(rmZ);
-        printf("ACC: X=%06dd Y=%06dd Z=%06dd \t MAG: X=%06dd Y=%06dd Z=%06dd\r\n", raX, raY, raZ, rmX, rmY, rmZ);
-        printf("ACC: X=%06dd Y=%06dd Z=%06dd \t MAG: X=%06dd Y=%06dd Z=%06dd\r\n", acc.getX(tmp_int), acc.getY(tmp_int), acc.getZ(tmp_int), mag.getX(tmp_int), mag.getY(tmp_int), mag.getZ(tmp_int));
-        // unit based results
-        acc.getAxis(acc_data);
-        mag.getAxis(mag_data);
-        printf("ACC: X=%1.4ff Y=%1.4ff Z=%1.4ff \t MAG: X=%4.1ff Y=%4.1ff Z=%4.1ff\r\n", acc_data.x, acc_data.y, acc_data.z, mag_data.x, mag_data.y, mag_data.z);
-        acc.getX(faX);
-        acc.getY(faY);
-        acc.getZ(faZ);
-        mag.getX(fmX);
-        mag.getY(fmY);
-        mag.getZ(fmZ);
-        printf("ACC: X=%1.4ff Y=%1.4ff Z=%1.4ff \t MAG: X=%4.1ff Y=%4.1ff Z=%4.1ff\r\n", faX, faY, faZ, fmX, fmY, fmZ);
-        printf("ACC: X=%1.4ff Y=%1.4ff Z=%1.4ff \t MAG: X=%4.1ff Y=%4.1ff Z=%4.1ff\r\n", acc.getX(tmp_float), acc.getY(tmp_float), acc.getZ(tmp_float), mag.getX(tmp_float), mag.getY(tmp_float), mag.getZ(tmp_float));
-        puts("");
-        wait(5.0f);
+// main() runs in its own thread in the OS
+int main(){
+    pc.baud(9600);
+    Btn1.rise(&speedUp);
+    Btn2.rise(&speedDown);
+    while(true){
+        if(speedCount > 0){
+            M1 = 1;
+            E1 = speedCount/10;
+            }
+        else{
+            M1 = 0;
+            E1 = -speedCount/10;
+            }                
+        /*potVal1 = Pot1.read();
+        potVal2 = Pot2.read();
+        if (potVal1 > 0.5){
+            M1 = 1;
+            E1 = potVal1-0.5;
+        }else{
+            M1 = 0;
+            E1 = -(potVal1-0.5);
+        }
+        if (potVal2 > 0.5){
+            M2 = 1;
+            E2 = potVal2-0.5;
+        }else{
+            M2 = 0;
+            E2 = -(potVal2-0.5);
+        }
+        pc.printf("Pot1: %f \t Pot2: %f \n\r", potVal1, potVal2);*/
     }
-}
\ No newline at end of file
+}