Diff: main.cpp

Revision:

4:e74c06e43485

Parent:

3:c0f40a94fffa

Child:

5:47262622a9bf

--- a/main.cpp	Tue Apr 10 14:31:50 2018 +0000
+++ b/main.cpp	Wed Apr 11 15:26:03 2018 +0000
@@ -5,6 +5,7 @@
 #include "IRSensor.h"
 #include "Motion.h"
 
+    Serial pc (SERIAL_TX, SERIAL_RX);
 //User Button
     DigitalIn button(PC_13);
 
@@ -28,27 +29,34 @@
     DigitalIn motorDriverWarning(PB_15);
     
     PwmOut pwmLeft(PA_8);
-    PwmOut pwmRight(PA_9);
+    PwmOut pwmRight(PA_10);
     
     EncoderCounter counterLeft(PB_6, PB_7);
-    EncoderCounter counterRight(PA_6, PC_7);
+    EncoderCounter counterRight(PA_1, PA_0);
     
     Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
     
     Motion motion(controller, counterLeft, counterRight, irSensorL, irSensorC, irSensorR);
+    
+    int start = 0;
+    short countsLeft = 0;
+    short countsRight = 0;
+    
+//------------------------------------------------------------------------------
 
 int main() {
     
-/** Micromouse Test 
-
-    für den jeweiligen Test 0 im while Argument auf 1 setzen
+/** 
+    Micromouse Test 
 */
     
+    //den jeweiligen Test auf 1 setzen
+    int testSensor = 0;
+    int testMotion = 0;
+    int testRotation = 0;
+    int testCounts = 0;
+    
     //User Button einlesen: start Signal
-    int start;
-    short countsLeft = 0;
-    short countsRight = 0;
-    
     if (button.read() && start != 1) start = 1;
     else if(button.read() && start == 1) start = 0;
 
@@ -56,12 +64,13 @@
     /*
     Sensoren Test
     */
-    while(start && 1) {
+    while(1) {
+        
         
         float distanceL = irSensorL.read();
         float distanceC = irSensorC.read();
         float distanceR = irSensorR.read();
-        printf("Rechts: %f  Mitte: %f  Links: %f\n", distanceL, distanceC, distanceR);
+        pc.printf("Rechts: %f  Mitte: %f  Links: %f\n", distanceL, distanceC, distanceR);
         
         wait(0.5f);
     }
@@ -69,10 +78,10 @@
     /*
     Motoren Test: Gerade Bewegung
     */
-    while(start && 0) {
+    while(0) {
         
         controller.setDesiredSpeedLeft(50.0f); //Drehzahl in [rpm]
-        controller.setDesiredSpeedRight(50.0f);
+        controller.setDesiredSpeedRight(-50.0f);
         enableMotorDriver = 1; //Schaltet  den Leistungstreiber ein
             while(1) {
         
@@ -89,7 +98,7 @@
     Motoren Test: 180° Rotation
     */
         
-    while(start && 0) {
+    while(start && testRotation) {
         
         while(countsLeft  < 200 || countsRight > -200) {
             
@@ -103,6 +112,7 @@
         
         controller.setDesiredSpeedLeft(0.0f);
         controller.setDesiredSpeedRight(0.0f); 
+        enableMotorDriver = 0;
         
     }
 
@@ -118,20 +128,21 @@
     Counts = Rd/mm pro Count
     
     => Counts pro Drehung rausfinden */
-    while(start && 0) {
+    while(start && testCounts) {
         
         while(countsLeft  < 100 || countsRight < 100) {
             
             countsLeft = counterLeft.read();
             countsRight = counterRight.read();
         
-            controller.setDesiredSpeedLeft(50.0f);
-            controller.setDesiredSpeedRight(50.0f);
+            controller.setDesiredSpeedLeft(20.0f);
+            controller.setDesiredSpeedRight(20.0f);
             enableMotorDriver = 1;
         }
         
         controller.setDesiredSpeedLeft(0.0f);
         controller.setDesiredSpeedRight(0.0f); 
+        enableMotorDriver = 0;
         
     }
 }