Diff: main.cpp

Revision:

9:718987b106a8

Parent:

7:14af656b721f

Child:

10:c9212bbfeae6

--- a/main.cpp	Sun Feb 22 17:55:33 2015 +0000
+++ b/main.cpp	Mon Feb 23 16:49:59 2015 +0000
@@ -17,12 +17,45 @@
 #include "mbed.h"
 #include "sensor_measure.h"
 #include "Motor_Driver.h"
-#include "Sensors.h"
+//#include "Sensors.h"
 
 #define PWM_PERIOD_US 10000
 
 
 
+Serial pc(USBTX, USBRX);
+
+Timer MeasureTimer; //Timer used for measurement
+
+/*    For deleting
+double measure1 (){
+
+
+    
+    sensorTimer.reset();
+    double freq,period = 0.0;
+    int n =0; //number of samples
+    int sensor_old = 0;
+    int sensor_new  = 0;//variable to remember old sensor state
+    double time_us = sensorTimer.read(); 
+    while (n < NUMBER_SAMPLES){
+        sensor_new = pin_right_right.read();
+        if ( sensor_new== 1 && sensor_old == 0){ // detect on rising edge ,sensor_old
+            n++;
+        }
+        sensor_old = sensor_new;
+        
+    }
+    double time_us2 = sensorTimer.read();
+   // pc.printf(" delta time is %f , time 2 is %f " , (time_us2 - time_us), time_us2); 
+    period = time_us2/((double)NUMBER_SAMPLES); // Get time
+    freq = (1/period);   // Convert period (in us) to frequency (Hz). Works up to 100kHz. 
+   // pc.printf(" period is  %f  ", period);
+    
+    return freq;//(freq < sensor.black_value*2)? 1 : 0;
+}
+*/
+
 int main() {
     
     /*
@@ -40,10 +73,20 @@
     
     motors.start();
     */ 
-    setup_counter(1000, 0);
-    float frequency = measure_frequency(CHANNEL_1);
+ //   setup_counter(1000, 0);
+  //  float frequency = measure_frequency(CHANNEL_1);
     
     sensor_initialise(); // initialise sensor values
     wait(1); //give time to set up the system
+    
+    sensorTimer.start(); // start timer for sensors
+    pc.printf("Start...");
+    MeasureTimer.start();
+    
+    while (1) {
+        MeasureTimer.reset();
+        measure(right_right);
+         pc.printf("Time taken for the whole thing is %f",MeasureTimer.read());
+    }
         
 }