Diff: main.cpp

Revision:

6:d25157f50f14

Parent:

5:85951362fd6d

Child:

7:5667ce16d526

--- a/main.cpp	Wed Nov 21 19:43:30 2018 +0000
+++ b/main.cpp	Wed Nov 21 20:32:01 2018 +0000
@@ -14,14 +14,8 @@
 //---------------------|
 // Debug LED pin:
 //DigitalOut led(p25);
-
-// Motor Power Control pins:
-/*
-DigitalOut Ctrl1(p29);
-DigitalOut Ctrl2(p30);
-PinDetect sw(p20);
-*/
-
+DigitalIn sw(p20);
+Serial pc(USBTX,USBRX);
 // Setup Motor Driver pins:
 Motor Lfront(p21, p6, p5);  // PWM to p21, forward to p6, reverse to p5...
 Motor Rfront(p22, p8, p7);  // PWM to p22, forward to p8, reverse to p7...
@@ -133,54 +127,15 @@
 //---------------|
 int main() {
     // Use internal pullup for the switch:
-    //sw.mode(PullUp);
-    
-    // Delay for initial pullups to take effect:
-    //wait(0.01);
-    
-    // Initialize and calibrate the IMU:
-    /*
-    LSM9DS1 imu(p28, p27, 0xD6, 0x3C);  // SDA to p28, SCL to p27...
-    imu.begin();
-    imu.calibrate(1);
-    imu.calibrateMag(0);
-    
-    imu.readGyro();
-    start = imu.gz;
-    */
-    
+    sw.mode(PullUp);
     // Initialize the Ultrasonic Sensor:
     usensor.startUpdates();
     
     // Initialize the Timer:
     t.start();
+    pc.printf("sw is : %d", sw);
+    while(!sw) {
     
-    while(1) {
-        // Toggle motor battery banks:
-        /*
-        if (!sw == 1) {
-            Ctrl1 = 1;
-            Ctrl2 = 1;
-            wait(0.2);
-        }
-        else {
-            Ctrl1 = 0;
-            Ctrl2 = 0;
-            wait(0.2);
-        }
-        */
-        
-        // Read IMU gyro:
-        //while(!imu.gyroAvailable());
-        //imu.readGyro();
-        //heading = imu.calcGyro(imu.gz);
-            // X - imu.calcGyro(imu.gx)
-            // Y - imu.calcGyro(imu.gy)
-            // Z - imu.calcGyro(imu.gz)
-            
-        //if (heading > 90) {led=1;} else {led=0;}
-        
-        // Read Ultrasonic Sensor:
         usensor.checkDistance();
         
         wait(0.1);