Diff: main.cpp

Revision:

5:2c84869b2edb

Parent:

4:a3720ed072d2

Child:

6:75d01138b015

--- a/main.cpp	Mon Jan 16 02:46:37 2017 +0000
+++ b/main.cpp	Mon Jan 16 03:47:11 2017 +0000
@@ -13,15 +13,16 @@
 MODSERIAL pcSerial(USBTX, USBRX);
 
 // Initialize a pins t//o perform analog and digital output fucntions
-AnalogOut  aout(p18);
 PwmOut led1(LED1);
 DigitalOut led2(LED2);
 DigitalOut led3(LED3);
+DigitalOut led4(LED4);
 
 PwmOut motorPwm(p26);
 AnalogOut motorAna(p18);
 DigitalOut motorEnable(p12);
 Ticker aTimer;
+AnalogIn motorSpeed(p15);
 AnalogIn potentiometer(p20);
 DigitalIn potentiometerEnable(p21);
 
@@ -41,19 +42,20 @@
 int main(void)
 {
     // DEFINE the operation modes
-    bool messageMode = false;
+    bool messageMode = true;
     bool analogMode = true;
     led1 = 0.0f;
     led2 = 0;
     led3 = 0;
+    led4 = 0;
     motorEnable = 0; // turn off motor
     motorAna.write_u16(POWER_OFF); // set motor pwm to zero
-    motorPwm.period_us(200);
+    motorPwm.period_us(400);
     motorPwm = 0.5f;
 
     uint16_t motorCommandReceived = POWER_OFF;
     uint16_t motorCommand = POWER_OFF;
-    uint16_t motorPositionMeas = POWER_OFF;
+    uint16_t motorSpeedMeas = POWER_OFF;
     float motorCommandFloat = 0.5f;
     pcSerial.baud(115200);
     pcSerial.printf("Start!\n");
@@ -77,8 +79,8 @@
                     motorAna.write_u16(motorCommandReceived);
                 } else { //PWM
                     motorCommandFloat = ((float) motorCommandReceived)/ 65535.0f;
-                    motorPwm.write( motorCommandFloat * 0.79f + 0.105f);
-                    led1 = motorCommandFloat; // drive led1 brightness accordingly
+                    motorPwm.write( motorCommandFloat * 0.8f + 0.1f);
+                    //led1 = motorCommandFloat; // drive led1 brightness accordingly
                 }
             } else { //potentiometer controlled
                 motorCommand = potentiometer.read_u16();
@@ -86,8 +88,8 @@
                     motorAna.write_u16(motorCommand);
                 } else { //PWM
                     motorCommandFloat = ((float) motorCommand) / 65535.0f;
-                    motorPwm.write( motorCommandFloat * 0.79f + 0.105f);
-                    led1 = motorCommandFloat; // drive led1 brightness accordingly
+                    motorPwm.write( motorCommandFloat * 0.8f + 0.1f);
+                    //led1 = motorCommandFloat; // drive led1 brightness accordingly
                 }
             }
 
@@ -95,9 +97,14 @@
         }
 
         if(readyToSendNext == true) {
-            motorPositionMeas = motorCommandReceived;
-            serialComm.sendUnsignedShort(motorPositionMeas);
+            // reading in current speed
+            motorSpeedMeas = motorSpeed.read_u16();
+            //sending speed to host
+            serialComm.sendUnsignedShort(motorSpeedMeas);
+            led4 = !led4;
+
             readyToSendNext = false;
+            
         }
 
     }