Diff: main.cpp

Revision:

15:979011e26ca3

Parent:

14:98925c1ed440

Child:

16:1869377fbb73

--- a/main.cpp	Fri Oct 17 09:39:49 2014 +0000
+++ b/main.cpp	Fri Oct 17 10:51:38 2014 +0000
@@ -7,7 +7,7 @@
 void clamp(float * in, float min, float max);
 volatile bool looptimerflag;
 HIDScope scope(2);
-float new_pwm = 0;
+float new_pwm = 2;
 
 void setlooptimerflag(void)
 {
@@ -21,24 +21,32 @@
 
 void looper()
 {
-    if (new_pwm==0) {
-        new_pwm = 1;
+    if (new_pwm==2) {
+        new_pwm = -2;
     } else {
-        new_pwm = 0;
+        new_pwm = 2;
     }
 }
 
 
 int main()
 {
-    Encoder motor1(PTD2,PTD0);
-    PwmOut pwm_motor(PTC8);
-    pwm_motor.period_us(100); //10kHz PWM frequency
-    DigitalOut motordir(PTC9);
+    //motor 1, 25D 
+    Encoder motor1(PTD3, PTD5);
+    DigitalOut motor1dir(PTC9);
+    PwmOut pwm_motor1(PTC8);
+    pwm_motor.period_us(100); //10kHz PWM frequency    
+    
+    //motor 2, 25D 
+    Encoder motor2(PTD2,PTD0);
+    DigitalOut motor2dir(PTA4);
+    PwmOut pwm_motor2(PTA5);
+    
+    pwm_motor.period_us(100); //10kHz PWM frequency    
     Ticker looptimer;
     looptimer.attach(setlooptimerflag,TSAMP);
     Ticker flip_switch;
-    flip_switch.attach(looper, 5);
+    flip_switch.attach(looper, 2);
 
     while(1) {
         while(!looptimerflag);
@@ -47,14 +55,14 @@
         clamp(&new_pwm, -1,1);
 
         scope.set(0, new_pwm);
-        scope.set(1, motor1.getPosition());
+        scope.set(1, motor2.getPosition());
         scope.send();
 
         if(new_pwm > 0)
-            motordir = 0;
+            motor2dir = 0;
         else
-            motordir = 1;
+            motor2dir = 1;
 
-        pwm_motor.write(abs(new_pwm));
+        pwm_motor2.write(abs(new_pwm));
     }
 }
\ No newline at end of file