Revision 4:275b6016f5c4, committed 2018-10-01

Comitter:

CasperK

Date:

Mon Oct 01 14:17:54 2018 +0000

Parent:

3:f00ddd66fe39

Commit message:

Now with comments

Changed in this revision

--- a/main.cpp	Fri Sep 28 11:33:57 2018 +0000
+++ b/main.cpp	Mon Oct 01 14:17:54 2018 +0000
@@ -2,6 +2,7 @@
 #include "MODSERIAL.h"
 #include "HIDScope.h"
 
+//create objects from K64f board
 PwmOut pwmpin(D6);
 PwmOut led(D10);
 AnalogIn potmeter(A5);
@@ -9,11 +10,13 @@
 DigitalOut directionpin(D7);
 MODSERIAL pc(USBTX, USBRX);
 
-HIDScope scope(2);
+//create other objects
+HIDScope scope(2); //set two lines to be send to HIDScope
 Ticker ticker;
-enum states{forward, stop, backwards};
+enum states{forward, stop, backwards}; //create possible different states
 states CurrentState;
 
+//create variables
 volatile float x;
 volatile float y;
 volatile float scaled_potmeter;
@@ -21,16 +24,16 @@
 
 void sendData() {
     scope.set(0,potmeter); //set the potmeter data to the first scope
-    scope.set(1,x);
+    scope.set(1,x); //placeholder for second potmeter/motor
     scope.send(); //send the datapoints of the 2 motors
 }
 
-void Proces_states(void){
+void Proces_states(void){ //execute the behaviour belonging to the different states
     switch (CurrentState){       
         case forward:
             directionpin = 1;
-            pwmpin.write(scaled_potmeter); //pwm of motor is potmeter value
-            led.write(scaled_potmeter); //led is potmeter value  
+            pwmpin.write(scaled_potmeter); //pwm of motor is scaled potmeter value
+            led.write(scaled_potmeter); //led is scaled potmeter value  
             break;
         case stop:
             // do nothing
@@ -38,8 +41,8 @@
         case backwards:
             directionpin = 0;
             c = scaled_potmeter*-1;
-            pwmpin.write(c); //pwm of motor is potmeter value
-            led.write(c); //led is potmeter value 
+            pwmpin.write(c); //pwm of motor is negative of scaled potmeter value
+            led.write(c); //led is negative of scaled potmeter value 
             break; 
     }            
 }
@@ -54,22 +57,22 @@
     while (true) {  
         scaled_potmeter = (potmeter*2)-1; //scale potmeter from 0-1 to (-1 to 1)
 
-        if (scaled_potmeter > 0) {
-            CurrentState = forward;
+        if (scaled_potmeter > 0) { //if the potmeter is past the half-way point
+            CurrentState = forward; //set the state
             pc.printf("state = forward\r\n");
-            Proces_states();
+            Proces_states(); //execute the state
         }
-        if (scaled_potmeter == 0) {
-            CurrentState = stop;
+        if (scaled_potmeter == 0) { //if the potmeter is at the half-way point
+            CurrentState = stop; //set the state
             pc.printf("state = stop\r\n");
-            Proces_states(); 
+            Proces_states(); //execute the state
         }
-        if (scaled_potmeter < 0) {
-            CurrentState = backwards;
+        if (scaled_potmeter < 0) { //if the potmeter is before its half-way point
+            CurrentState = backwards; //set the state
             pc.printf("state = backwards\r\n");
-            Proces_states(); 
+            Proces_states(); //execute the state
         }   
-        wait(0.2f);
+        wait(0.2f); //wait, so that the loop will repeat every 0.2 seconds (+interrupt times)
     }
 }