Diff: main.cpp

Revision:

12:bb21b76b6375

Parent:

11:9e56d52485d1

Child:

14:3844d1dacece

--- a/main.cpp	Fri Mar 06 11:50:07 2015 +0000
+++ b/main.cpp	Fri Mar 06 16:09:31 2015 +0000
@@ -21,18 +21,20 @@
 #include "mbed.h"
 #include "sensor_measure.h"
 #include "Motor_Driver.h"
+#include "shooter.h"
 //#include "Sensors.h"
 
 #define PWM_PERIOD_US 10000
 
 
-DigitalOut led(LED1);
+//DigitalOut led(LED1);
+
 
 //Serial pc(USBTX, USBRX);
 
 //Timer MeasureTimer; //Timer used for measurement
 
-Motor_Driver motors(PTD4, PTA12, PTA4, PTA5, PTC9, PTC8, PWM_PERIOD_US);
+//Motor_Driver motors(PTD4, PTA12, PTA4, PTA5, PTC9, PTC8, PWM_PERIOD_US);
 
 typedef enum  mode {REGULAR,SQUARE} mode; //enumeration for different states
 mode driveMode; //declaring the variable for the states
@@ -44,7 +46,7 @@
     sensorsCheckSum = 0; //zero it when first going into the routine
     int iterationNumber = NUMBER_SENSORS_REGULAR;
     if (driveMode == SQUARE) {
-          itearationNumber += NUMBER_SENSORS_SQUARE;
+          iterationNumber += NUMBER_SENSORS_SQUARE;
     }
     for (int i = 0; i < iterationNumber;i++){
         if (measure(*sensorArray[i]) == 1) {//if sensor is white 
@@ -56,6 +58,7 @@
 
 int main() {
     
+    
     /*
     Motor_Driver motors(PTD4, PTA12, PTA4, PTA5, PTC9, PTC8, PWM_PERIOD_US);
     
@@ -74,7 +77,7 @@
  //   setup_counter(1000, 0);
   //  float frequency = measure_frequency(CHANNEL_1);
     
-    driveMode = REGULAR;
+    driveMode = REGULAR; //initialise drivemode
     sensor_initialise(); // initialise sensor values
     wait(1); //give time to set up the system
     
@@ -116,6 +119,7 @@
        
        
     }
+    
         
 }