Revision 11:bfb73f083009, committed 2019-01-19

Comitter:

JonFreeman

Date:

Sat Jan 19 11:45:01 2019 +0000

Parent:

10:e40d8724268a

Child:

12:d1d21a2941ef

Commit message:

Tidied class parameter passing, serial problem fixed (was hardware)

Changed in this revision

--- a/DualBLS.h	Tue Jan 15 09:03:57 2019 +0000
+++ b/DualBLS.h	Sat Jan 19 11:45:01 2019 +0000
@@ -1,3 +1,8 @@
+#include "mbed.h"
+
+#ifndef MBED_DUALBLS_H
+#define MBED_DUALBLS_H
+
 const   int     HANDBRAKE   = 0,
                 FORWARD     = 8,
                 REVERSE     = 16,
@@ -20,6 +25,8 @@
 const   double      PI      = 4.0 * atan(1.0),
                     TWOPI   = 8.0 * atan(1.0);
 
+enum    {COM_SOURCES, COM1, COM2, HAND, RC_IN1, RC_IN2,THEEND}  ;
+
 //enum    {MOTADIR, MOTBDIR, GANG, SVO1, SVO2, COMM_SRC, ID, WHEELDIA, MOTPIN, WHEELGEAR}  ;  //  Identical in TS and DualBLS
 enum    {MOTADIR, MOTBDIR, GANG, SVO1, SVO2, COMM_SRC, ID, WHEELDIA, MOTPIN, WHEELGEAR, BOGHUNWAT, FUT1, FUT2, FUT3, FUT4, FUT5}  ;  //  Identical in TS and DualBLS
 struct  optpar  {
@@ -51,3 +58,5 @@
 }   ;
 
 //const   double  SERVOIN_PWR_BENDER = 1.5;   //  Used to change servo_in stick at centre position to match pot approx 1/3 braking 2/3 driving
+#endif
+

--- a/F401RE.h	Tue Jan 15 09:03:57 2019 +0000
+++ b/F401RE.h	Sat Jan 19 11:45:01 2019 +0000
@@ -4,11 +4,9 @@
 //              Problem - Appears to conflict with serial port used for comms with controller
 //              Earlier efforts to use 'Servo' ports as 'you choose' between I/O failed as pins not capable of use as 'InterruptIn'
 
-//                  Experiment disabling RC inputs to see if clearing serial conflict is possible
+//  CORRECTION  Comms problem with Touch Screen was insufficient pull-up on STM3_ESC opto. Change R12 from 1k to 470R
 
-//#define RC1IN
-//#define RC2IN
-
+//                  Experiment disabling RC inputs to see if clearing serial conflict is possible
 
 
 //  Port A -> MotorA, Port B -> MotorB
@@ -67,8 +65,8 @@
 PORT_A_MASK = AUL | AVL | AWL | AUH | AVH | AWH,            //  NEW METHOD FOR DGD21032 MOSFET DRIVERS
 PORT_B_MASK = BUL | BVL | BWL | BUH | BVH | BWH;
 
-PortOut MotA    (PortA, PORT_A_MASK);   //  Activate output ports to motor drivers
-PortOut MotB    (PortB, PORT_B_MASK);
+//PortOut MotA    (PortA, PORT_A_MASK);   //  Activate output ports to motor drivers
+//PortOut MotB    (PortB, PORT_B_MASK);
 
 //  Pin 1   VBAT    NET +3V3
 
@@ -76,13 +74,6 @@
 InterruptIn   Temperature_pin   (PC_13);//  Pin 2   June 2018 - taken for temperature sensor - hard wired to T1 due to wrong thought T1 could be InterruptIn
 
 
-#ifdef  RC1IN
-InterruptIn     RC_1_in (PC_14);    //New Dec 2018 tryiing to find pins to use for servo in
-#endif
-#ifdef  RC2IN
-InterruptIn     RC_2_in (PC_15);    //Yes, PC_14 and PC_15 do work
-#endif
-
 //  Pin 3   PC14-OSC32_IN   NET O32I    Xtal chucked off these pins, now needed for RC inputs
 //  Pin 4   PC15-OSC32_OUT  NET O32O
 //  Pin 5   PH0-OSC_IN      NET PH1
@@ -90,8 +81,10 @@
 //  Pin 7   NRST            NET NRST
 AnalogIn    Ain_DriverPot   (PC_0); //  Pin 8   Spare Analogue in, net SAIN fitted with external pull-down
 AnalogIn    Ain_SystemVolts (PC_1); //  Pin 9
-AnalogIn    Motor_A_Current (PC_2); //  Pin 10
-AnalogIn    Motor_B_Current (PC_3); //  Pin 11
+#define MOT_A_I_ADC PC_2
+#define MOT_B_I_ADC PC_3
+//AnalogIn    Motor_A_Current (PC_2); //  Pin 10
+//AnalogIn    Motor_B_Current (PC_3); //  Pin 11
 //  Pin 12 VSSA/VREF-   NET GND
 //  Pin 13 VDDA/VREF+   NET +3V3
 //  Pin 14  Port_A AUL
@@ -105,8 +98,10 @@
 DigitalOut  LED           (PA_5); //  Pin 21
 //  Pin 22  Port_A AVL
 //  Pin 23  Port_A AVH
-InterruptIn  MBH2      (PC_4); //  Pin 24
-InterruptIn  MBH3      (PC_5); //  Pin 25
+//InterruptIn  MBH2      (PC_4); //  Pin 24
+//InterruptIn  MBH3      (PC_5); //  Pin 25
+#define _MBH2   PC_4
+#define _MBH3   PC_5
 //  Pin 26  Port_B BUL
 //  Pin 27  Port_B BVL
 //  Pin 28  Port_B BWL
@@ -119,9 +114,11 @@
 DigitalOut  T4        (PB_14);    //  Pin 35
 DigitalOut  T3        (PB_15);    //  Pin 36
 //  BufferedSerial com2 pins 37 Tx, 38 Rx
-BufferedSerial  com2          (PC_6, PC_7);    //  Pins 37, 38  tx, rx to XBee module
-FastPWM     A_MAX_V_PWM     (PC_8, PWM_PRESECALER_DEFAULT),  //  Pin 39                  pwm3/3
-            A_MAX_I_PWM     (PC_9, PWM_PRESECALER_DEFAULT); //  pin 40, prescaler value  pwm3/4
+BufferedSerial  com2          (PC_6, PC_7);    //  Pins 37, 38  tx, rx to Touch Screen Controller
+#define APWMV   PC_8
+#define APWMI   PC_9
+//FastPWM     A_MAX_V_PWM     (PC_8, PWM_PRESECALER_DEFAULT),  //  Pin 39                  pwm3/3
+//            A_MAX_I_PWM     (PC_9, PWM_PRESECALER_DEFAULT); //  pin 40, prescaler value  pwm3/4
 //InterruptIn MotB_Hall   (PA_8); //  Pin 41
 //  Pin 41  Port_A AWH
 //  BufferedSerial com3 pins 42 Tx, 43 Rx
@@ -150,13 +147,19 @@
 
 //Was DigitalOut  T5  (PA_15); //  Pin 50
 DigitalIn   T5  (PA_15); //  Pin 50 now fwd/rev from remote control box if fitted
-InterruptIn MAH1    (PC_10);    //  Pin 51
-InterruptIn MAH2    (PC_11);    //  Pin 52
-InterruptIn MAH3    (PC_12);    //  Pin 53
-InterruptIn MBH1    (PD_2);     //  Pin 54
+//InterruptIn MAH1    (PC_10);    //  Pin 51
+//InterruptIn MAH2    (PC_11);    //  Pin 52
+//InterruptIn MAH3    (PC_12);    //  Pin 53
+#define _MAH1   PC_10
+#define _MAH2   PC_11
+#define _MAH3   PC_12
+//InterruptIn MBH1    (PD_2);     //  Pin 54
+#define _MBH1   PD_2
 DigitalOut  T6      (PB_3);     //  Pin 55
-FastPWM     B_MAX_V_PWM     (PB_4, PWM_PRESECALER_DEFAULT),  //  Pin 56                  pwm3/3
-            B_MAX_I_PWM     (PB_5, PWM_PRESECALER_DEFAULT); //  pin 57, prescaler value  pwm3/4
+#define BPWMV   PB_4
+#define BPWMI   PB_5
+//FastPWM     B_MAX_V_PWM     (PB_4, PWM_PRESECALER_DEFAULT),  //  Pin 56                  pwm3/3
+//            B_MAX_I_PWM     (PB_5, PWM_PRESECALER_DEFAULT); //  pin 57, prescaler value  pwm3/4
 
 I2C i2c                     (PB_7, PB_6);   //  Pins 58, 59 For 24LC64 eeprom
 //  Pin 60  BOOT0
@@ -175,4 +178,9 @@
 //  Pin 63  VSS
 //  Pin 64  VDD
 //  SYSTEM CONSTANTS
+//  December 2018   ** NEED TO PROVE SERVO OUT WORKS ** YES, DONE.
+    Servo   Servo1  (PB_8)  ;
+//    Servos[0] = & Servo1;
+    Servo   Servo2  (PB_9)  ;
+//    Servos[1] = & Servo2;
 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Radio_Control_In.cpp	Sat Jan 19 11:45:01 2019 +0000
@@ -0,0 +1,73 @@
+#include "mbed.h"
+#include "BufferedSerial.h"
+#include "Radio_Control_In.h"
+/**class   RControl_In
+    Jon Freeman
+    Jan 2019
+
+    Checks for __-__ duration 800-2200us
+    Checks repetition rate in range 5-25ms
+*/
+extern  BufferedSerial  pc;
+
+//    RControl_In::RControl_In   ()   {    //  Default Constructor
+//        pulse_width_us = period_us = pulse_count = 0;
+//        lost_chan_return_value = 0.0;
+//    }   ;
+//    RControl_In::RControl_In   (PinName inp) : pulse_in(inp)   {    //  Default Constructor
+//        pulse_width_us = period_us = pulse_count = 0;
+//        lost_chan_return_value = 0.0;
+//    }   ;
+/**
+*/
+void        RControl_In::set_lost_chan_return_value  (double d)  {
+    lost_chan_return_value = d;
+}
+
+uint32_t    RControl_In::pulsewidth   ()
+{
+    return  pulse_width_us;
+}
+
+uint32_t    RControl_In::pulsecount   ()
+{
+    return  pulse_count;
+}
+
+uint32_t    RControl_In::period   ()
+{
+    return  period_us;
+}
+
+bool    RControl_In::validate_rx ()
+{   //  Tests for pulse width and repetition rates being believable
+    return  !((period_us < 5000) || (period_us > 25000) || (pulse_width_us < 800) || (pulse_width_us > 2200));
+}
+
+double  RControl_In::normalised  ()  {
+    if  (!validate_rx())    {
+        pc.printf   ("Invalid RCin\r\n");
+        return  lost_chan_return_value;     //  ** WHAT TO RETURN WHEN RC NOT ACTIVE ? ** This is now user settable
+    }                                       //  Defaults to returning 0.0, user should call set_lost_chan_value (value) to alter
+    double norm = (double) (pulse_width_us - 1000);  //  left with -200 to + 1200 allowing for some margin
+    norm /= 1000.0;
+    if  (norm > 1.0)
+        norm = 1.0;
+    if  (norm < 0.0)
+        norm = 0.0;
+    return  norm;
+}
+
+void    RControl_In::RadC_rise    ()     //  December 2018 - Could not make Servo port bidirectional, fix by using PC_14 and 15 as inputs
+{                                   
+    period_us = t.read_us    ();
+    t.reset ();
+    t.start ();
+}
+
+void    RControl_In::RadC_fall    ()
+{
+    pulse_width_us = t.read_us   ();
+    pulse_count++;
+}
+//  end of RControl_In class

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Radio_Control_In.h	Sat Jan 19 11:45:01 2019 +0000
@@ -0,0 +1,37 @@
+#include "mbed.h"
+#ifndef MBED_JONS_RADIO_CONTROL_IN_H
+#define MBED_JONS_RADIO_CONTROL_IN_H
+
+/**class   RControl_In
+    Jon Freeman
+    Jan 2019
+
+    Checks for __-__ duration 800-2200us
+    Checks repetition rate in range 5-25ms
+*/
+class   RControl_In         //  Class to Read servo style pwm input _____-_____
+{
+    InterruptIn pulse_in;
+    Timer   t;
+    int32_t pulse_width_us, period_us, pulse_count;
+    double  lost_chan_return_value;
+    void    RadC_rise ();
+    void    RadC_fall ();
+public:
+//    RControl_In   ()    ;       //  Default Constructor
+    RControl_In   (PinName inp) : pulse_in(inp)   {    //  Default Constructor
+        pulse_in.mode   (PullDown);
+        pulse_in.rise(callback(this, &RControl_In::RadC_rise));     // Attach handler to the rising interruptIn edge
+        pulse_in.fall(callback(this, &RControl_In::RadC_fall));     // Attach handler to the falling interruptIn edge
+        pulse_width_us = period_us = pulse_count = 0;
+        lost_chan_return_value = 0.0;
+    }   ;
+    bool        validate_rx ()  ;   //  Informs whether signal being rx'd
+    void        set_lost_chan_return_value  (double)  ; //  set what 'normalised' returns when no signal
+    uint32_t    pulsecount  ()  ;     //  will count up at frame rate when radio control all working well
+    uint32_t    pulsewidth  ()  ;
+    uint32_t    period      ()  ;
+    double      normalised  ();   //  Returns 0.0 <= p <= 1.0 or something else when rc not active
+}   ;
+
+#endif

--- a/brushless_motor.cpp	Tue Jan 15 09:03:57 2019 +0000
+++ b/brushless_motor.cpp	Sat Jan 19 11:45:01 2019 +0000
@@ -7,44 +7,77 @@
 #include "FastPWM.h"
 #include "Servo.h"
 #include "brushless_motor.h"
-brushless_motor::brushless_motor    (PortOut * P , FastPWM * _maxV_ , FastPWM * _maxI_ , const uint16_t * lutptr, InterruptIn ** Hall)        //  Constructor
+
+
+brushless_motor::brushless_motor    (PinName iadc, PinName pwv, PinName pwi, 
+    const uint16_t * lutptr, PinName px, PinName py, PinName pz, PortName pn, int port_bit_mask) 
+    : Motor_I(iadc), maxV(pwv,PWM_PRESECALER_DEFAULT), maxI(pwi,PWM_PRESECALER_DEFAULT), H1(px), H2(py), H3(pz), OP(pn, port_bit_mask)      //  Constructor
 {
     //  Constructor
-    maxV = _maxV_;
-    maxI = _maxI_;
+    OP = 0;
+    H1.mode (PullUp);
+    H2.mode (PullUp);
+    H3.mode (PullUp);
+    H1.rise (callback(this, &brushless_motor::Hall_change));     // Attach handler to the rising interruptIn edge
+    H1.fall (callback(this, &brushless_motor::Hall_change));     // Attach handler to the falling interruptIn edge
+    H2.rise (callback(this, &brushless_motor::Hall_change));     // Attach handler to the rising interruptIn edge
+    H2.fall (callback(this, &brushless_motor::Hall_change));     // Attach handler to the falling interruptIn edge
+    H3.rise (callback(this, &brushless_motor::Hall_change));     // Attach handler to the rising interruptIn edge
+    H3.fall (callback(this, &brushless_motor::Hall_change));     // Attach handler to the falling interruptIn edge
     Hall_total = 0;  //  mode can be only 0, 8, 16 or 24, lut row select for Handbrake, Forward, Reverse, or Regen Braking
     latest_pulses_per_sec = 0;
     for (int i = 0; i < MAIN_LOOP_ITERATION_Hz; i++)
         edge_count_table[i] = 0;
-//    if  (lutptr != A_tabl && lutptr != B_tabl)
-//        pc.printf   ("Fatal in 'motor' constructor, Invalid lut address\r\n");
     Hall_tab_ptr = 0;
-    Motor_Port = P;
-//    pc.printf   ("In motor constructor, Motor port = %lx\r\n", P);
-    maxV->period_ticks      (MAX_PWM_TICKS + 1);  //  around 18 kHz
-    maxI->period_ticks      (MAX_PWM_TICKS + 1);
-    maxV->pulsewidth_ticks  (MAX_PWM_TICKS / 20);
-    maxI->pulsewidth_ticks  (MAX_PWM_TICKS / 30);
+    maxV.period_ticks      (MAX_PWM_TICKS + 1);  //  around 18 kHz
+    maxI.period_ticks      (MAX_PWM_TICKS + 1);
+    maxV.pulsewidth_ticks  (MAX_PWM_TICKS / 20);
+    maxI.pulsewidth_ticks  (MAX_PWM_TICKS / 30);
     visible_mode    = REGENBRAKE;
     inner_mode      = REGENBRAKE;
     lut = lutptr;
-    Hindex[0] = Hindex[1]  = read_Halls    ();
+    Hall_index[0] = Hall_index[1]  = read_Halls    ();
     ppstmp  = 0;
+    cs_ptr = 0;
     tickleon    = 0;
     direction   = 0;
     angle_cnt   = 0;        //  Incremented or decremented on each Hall event according to actual measured direction of travel
     encoder_error_cnt = 0;  //  Incremented when Hall transition not recognised as either direction
-    Hall1 = Hall[0];
-    Hall2 = Hall[1];
-    Hall3 = Hall[2];
     PPS     = 0;
     RPM     = 0;
     last_V = last_I = 0.0;
-    int x = read_Halls  ();
-    if  (x == 7)
-        dc_motor = true;
+    dc_motor = (Hall_index[0] == 7) ? true : false    ;
+}
+
+void    brushless_motor::sniff_current   ()  {
+    current_samples[cs_ptr++] = Motor_I.read_u16    (); //
+    if  (cs_ptr >= CURRENT_SAMPLES_AVERAGED)
+        cs_ptr = 0;
+}
+
+void    brushless_motor::Hall_change   ()  {
+    int32_t     delta_theta;
+    const   int32_t delta_theta_lut[] = {   //  Looks up -1 for forward move detected, +1 for reverse move detected, 0 for error or unknown
+        0, 0, 0, 0, 0, 0, 0, 0,     //  Previous Hindex was 0
+        0, 0, 0,-1, 0, 1, 0, 0,     //  Previous Hindex was 1
+        0, 0, 0, 1, 0, 0,-1, 0,     //  Previous Hindex was 2
+        0, 1,-1, 0, 0, 0, 0, 0,     //  Previous Hindex was 3
+        0, 0, 0, 0, 0,-1, 1, 0,     //  Previous Hindex was 4
+        0,-1, 0, 0, 1, 0, 0, 0,     //  Previous Hindex was 5
+        0, 0, 1, 0,-1, 0, 0, 0,     //  Previous Hindex was 6
+        0, 0, 0, 0, 0, 0, 0, 0,     //  Previous Hindex was 7
+    }  ;
+
+    Hall_index[0]   = read_Halls    ();
+    delta_theta = delta_theta_lut[(Hall_index[1] << 3) | Hall_index[0]];
+
+    if  (delta_theta == 0)
+        encoder_error_cnt++;
     else
-        dc_motor = false;
+        angle_cnt += delta_theta;
+    OP = lut[inner_mode | Hall_index[0]];  //  changed mode to inner_mode 27/04/18
+    Hall_total++;
+    Hall_index[1] = Hall_index[0];
 }
 
 bool    brushless_motor::motor_is_brushless   ()
@@ -71,24 +104,27 @@
 int     brushless_motor::read_Halls  ()
 {
     int x = 0;
-    if  (*Hall1 != 0)    x |= 1;
-    if  (*Hall2 != 0)    x |= 2;
-    if  (*Hall3 != 0)    x |= 4;
+    if  (H1 != 0)    x |= 1;
+    if  (H2 != 0)    x |= 2;
+    if  (H3 != 0)    x |= 4;
     return  x;
 }
 
 void    brushless_motor::high_side_off   ()
 {
-    uint16_t    p = *Motor_Port;
+//    uint16_t    p = *Motor_Port;
+    uint16_t    p = OP;
     p &= lut[32];   //  KEEP_L_MASK_A or B
-    *Motor_Port = p;
+//    *Motor_Port = p;
+    OP = p;
 }
 
 void    brushless_motor::low_side_on   ()
 {
 //    uint16_t    p = *Motor_Port;
 //    p &= lut[31];   //  KEEP_L_MASK_A or B
-    *Motor_Port = lut[31];
+//    *Motor_Port = lut[31];
+    OP = lut[31];
 }
 
 void    brushless_motor::current_calc ()
@@ -113,7 +149,7 @@
 {
     if  (v < 1) v = 1;
     if  (v > MAX_PWM_TICKS) v = MAX_PWM_TICKS;
-    maxV->pulsewidth_ticks  (v);
+    maxV.pulsewidth_ticks  (v);
 }
 
 void    brushless_motor::set_V_limit (double p)  //  Sets max motor voltage. Use set_V_limit (last_V) to restore previous setting
@@ -125,7 +161,7 @@
     last_V = p;     //  for read by diagnostics
     p *= 0.95;   //  need limit, ffi see MCP1630 data
     p   = 1.0 - p;  //  because pwm is wrong way up
-    maxV->pulsewidth_ticks  ((int)(p * MAX_PWM_TICKS));  //  PWM output to MCP1630 inverted motor pwm as MCP1630 inverts
+    maxV.pulsewidth_ticks  ((int)(p * MAX_PWM_TICKS));  //  PWM output to MCP1630 inverted motor pwm as MCP1630 inverts
 }
 
 void    brushless_motor::set_I_limit (double p)     //  Sets max motor current. pwm integrated to dc ref voltage level
@@ -141,7 +177,7 @@
         a = MAX_PWM_TICKS;
     if  (a < 0)
         a = 0;
-    maxI->pulsewidth_ticks  (a);  //  PWM
+    maxI.pulsewidth_ticks  (a);  //  PWM
 }
 
 uint32_t    brushless_motor::pulses_per_sec   ()       //  call this once per 'MAIN_LOOP_REPEAT_TIME_US= 31250' main loop pass to keep count = edges per sec
@@ -194,30 +230,10 @@
     return  true;
 }
 
-void    brushless_motor::Hall_change  ()
-{
-    const   int32_t delta_theta_lut[] = {   //  Looks up -1 for forward move detected, +1 for reverse move detected, 0 for error or unknown
-        0, 0, 0, 0, 0, 0, 0, 0,     //  Previous Hindex was 0
-        0, 0, 0,-1, 0, 1, 0, 0,     //  Previous Hindex was 1
-        0, 0, 0, 1, 0, 0,-1, 0,     //  Previous Hindex was 2
-        0, 1,-1, 0, 0, 0, 0, 0,     //  Previous Hindex was 3
-        0, 0, 0, 0, 0,-1, 1, 0,     //  Previous Hindex was 4
-        0,-1, 0, 0, 1, 0, 0, 0,     //  Previous Hindex was 5
-        0, 0, 1, 0,-1, 0, 0, 0,     //  Previous Hindex was 6
-        0, 0, 0, 0, 0, 0, 0, 0,     //  Previous Hindex was 7
-    }  ;
-    int32_t delta_theta = delta_theta_lut[(Hindex[1] << 3) | Hindex[0]];
-    if  (delta_theta == 0)
-        encoder_error_cnt++;
-    else
-        angle_cnt += delta_theta;
-    *Motor_Port = lut[inner_mode | Hindex[0]];  //  changed mode to inner_mode 27/04/18
-    Hall_total++;
-    Hindex[1] = Hindex[0];
-}
 
 void    brushless_motor::motor_set  ()
 {
-    Hindex[0]  = read_Halls    ();
-    *Motor_Port = lut[inner_mode | Hindex[0]];
+    Hall_index[0]  = read_Halls    ();
+//    *Motor_Port = lut[inner_mode | Hindex[0]];
+    OP = lut[inner_mode | Hall_index[0]];
 }

--- a/brushless_motor.h	Tue Jan 15 09:03:57 2019 +0000
+++ b/brushless_motor.h	Sat Jan 19 11:45:01 2019 +0000
@@ -6,68 +6,50 @@
 #define MBED_BRUSHLESSMOTOR_H
 
 #include "mbed.h"
+#include "DualBLS.h"
 
 class   brushless_motor
 {
+    int32_t     angle_cnt;
+    uint32_t    Hall_index[2], encoder_error_cnt;
     uint32_t    Hall_total, visible_mode, inner_mode, edge_count_table[MAIN_LOOP_ITERATION_Hz]; //  to contain one seconds worth
     uint32_t    latest_pulses_per_sec, Hall_tab_ptr, direction, ppstmp;
     bool    moving_flag;
     const   uint16_t * lut;
     uint16_t    ttabl[34];
-    FastPWM * maxV, * maxI;
-    PortOut * Motor_Port;
-    InterruptIn * Hall1, * Hall2, * Hall3;
+    FastPWM maxV;
+    FastPWM maxI;
+    InterruptIn H1;
+    InterruptIn H2;
+    InterruptIn H3;
+    PortOut     OP;
+    AnalogIn    Motor_I;
+    void    Hall_change ()  ;
+    int     read_Halls  ()  ;           //  Returns 3 bits of latest Hall sensor outputs
 public:
     bool    dc_motor;
     struct  currents    {
         uint32_t    max, min, ave;
     }  I;
-    int32_t     angle_cnt;
     uint32_t    current_samples[CURRENT_SAMPLES_AVERAGED];  //  Circular buffer where latest current readings get stored
-    uint32_t    Hindex[2], tickleon, encoder_error_cnt;
-    uint32_t    RPM, PPS;
+    uint32_t    cs_ptr;
+    uint32_t    RPM, PPS, tickleon;
     double      last_V, last_I;
-    brushless_motor   ()  {}  ;   //  Default constructor
-/**
-    brushless_motor   (PortOut * , FastPWM * , FastPWM * , const uint16_t *, InterruptIn **)  ;
-    
-    PortOut * is &MotA where MotA has been declared as below where PORT_A_MASK identifies which 6 bits of 16 bit port are used to energise motor
-    PortOut MotA    (PortA, PORT_A_MASK);   //  Activate output ports to motor drivers
-    
-    FastPWM * are e.g. &A_MAX_V_PWM, &A_MAX_I_PWM
-    
-    const uint16_t * is e.g. A_tabl defining which port bits set to which level 
-const   uint16_t    A_tabl[] = {  //  Origial table
-    0,  0,  0,  0,  0,  0,  0,  0,  //  Handbrake
-    0,  AWV,AVU,AWU,AUW,AUV,AVW,AUW,  //  Forward 0, WV1, VU1, WU1, UW1, UV1, VW1, 0,    //  JP, FR, SG, PWM = 1 0 1 1   Forward1
-    0,  AVW,AUV,AUW,AWU,AVU,AWV,AWU,  //  Reverse 0, VW1, UV1, UW1, WU1, VU1, WV1, 0,    //  JP, FR, SG, PWM = 1 1 0 1   Reverse1
-    0,  BRA,BRA,BRA,BRA,BRA,BRA,BRA,   //  Regenerative Braking
-    KEEP_L_MASK_A, KEEP_H_MASK_A   //  [32 and 33]
-}   ;
-
-InterruptIn ** is e.g. AHarr pointer to array of addresses of InterruptIns connected to Hall sensors
-InterruptIn * AHarr[] = {
-    &MAH1,
-    &MAH2,
-    &MAH3
-}   ;
-
-*/
-    brushless_motor   (PortOut * , FastPWM * , FastPWM * , const uint16_t *, InterruptIn **)  ;
+//    brushless_motor   ()  {}   ;  //  can not use this with exotic elements PortOut, FastPWM etc
+    brushless_motor   (PinName iadc, PinName pwv, PinName pwi, const uint16_t *, PinName h1, PinName h2, PinName h3, PortName, int)   ;   //  Constructor
     void    set_V_limit (double)    ;  //  Sets max motor voltage
     void    set_I_limit (double)    ;  //  Sets max motor current
-    void    Hall_change ()  ;           //  Called in response to edge on Hall input pin
     void    motor_set   ()  ;           //  Energise Port with data determined by Hall sensors
     void    direction_set   (int)  ;    //  sets 'direction' with bit pattern to eor with FORWARD or REVERSE in set_mode
     bool    set_mode    (int);          //  sets mode to HANDBRAKE, FORWARD, REVERSE or REGENBRAKE
     bool    is_moving   ()  ;           //  Returns true if one or more Hall transitions within last 31.25 milli secs
     void    current_calc    ()  ;       //  Updates 3 uint32_t I.min, I.ave, I.max
     uint32_t    pulses_per_sec   ()  ;  //  call this once per main loop pass to keep count = edges per sec
-    int     read_Halls  ()  ;           //  Returns 3 bits of latest Hall sensor outputs
     bool    motor_is_brushless  ();
     void    high_side_off   ()  ;
     void    low_side_on     ()  ;
     void    raw_V_pwm   (int);
+    void    sniff_current   ()  ;
 }   ;   //MotorA, MotorB, or even Motor[2];
 
 #endif

--- a/cli_BLS_nortos.cpp	Tue Jan 15 09:03:57 2019 +0000
+++ b/cli_BLS_nortos.cpp	Sat Jan 19 11:45:01 2019 +0000
@@ -1,6 +1,9 @@
 //  DualBLS2018_06
 #include "mbed.h"
 #include "BufferedSerial.h"
+#include "FastPWM.h"
+#include "DualBLS.h"
+#include "brushless_motor.h"
 
 #include <cctype>
 #include "DualBLS.h"
@@ -11,6 +14,8 @@
 extern  bool    WatchDogEnable;
 extern  char    mode_bytes[];
 
+extern  brushless_motor MotorA, MotorB;
+
 const int   BROADCAST   = '\r';
 const   int MAX_PARAMS = 20;
 struct  parameters  {
@@ -30,10 +35,11 @@
 extern  void    setVI   (double v, double i)  ;
 extern  void    setV    (double v)  ;
 extern  void    setI    (double i)  ;
-extern  void    read_last_VI    (double * val)  ;   //  only for test from cli
+//extern  void    last_VI    (double * val)  ;   //  only for test from cli
 
 //BufferedSerial * com;
 extern  double  Read_DriverPot  ();
+extern  double  Read_BatteryVolts   ();
 void    pot_cmd (struct parameters & a)
 {
     pc.printf   ("Driver's pot %.3f\r\n", Read_DriverPot  ());
@@ -69,12 +75,6 @@
     a.com->printf   ("Watchdog %sabled\r\n", WatchDogEnable ? "En":"Dis");
 }
 
-extern  void prscfuck   (int);
-void    pf_cmd (struct parameters & a)
-{
-    prscfuck    ((int)a.dbl[0]);
-}
-
 extern  void    report_motor_types  ()  ;
 void    mt_cmd (struct parameters & a)
 {
@@ -84,24 +84,17 @@
 }
 
 extern  void    mode_set_both_motors   (int mode, double val)  ;   //  called from cli to set fw, re, rb, hb
-extern  void    read_supply_vi   (double * val)  ;
 
 void    rdi_cmd (struct parameters & a)  //  read motor currents
 {
-    if  (a.respond) {
-        double  r[4];
-        read_supply_vi  (r);    //  get MotorA.I.ave, MotorB.I.ave, Battery volts
-        a.com->printf ("rdi%.0f %.0f %.1f\r", r[0], r[1], r[2]);  //  Format good to be unpicked by cli in touch screen controller
-    }
+    if  (a.respond) 
+        a.com->printf ("rdi%.0f %.0f %.1f\r", MotorA.I.ave, MotorB.I.ave, Read_BatteryVolts  ());  //  Format good to be unpicked by cli in touch screen controller
 }
 
 void    rvi_cmd (struct parameters & a)  //  read last normalised values sent to pwms
 {
-    if  (a.respond) {
-        double  r[6];
-        read_last_VI    (r);
-        a.com->printf ("rvi%.2f %.2f %.2f %.2f\r", r[0], r[1], r[2], r[3]);
-    }
+    if  (a.respond) 
+        a.com->printf ("rvi%.2f %.2f %.2f %.2f\r", MotorA.last_V, MotorA.last_I, MotorB.last_V, MotorB.last_I);
 }
 
 void    fw_cmd (struct parameters & a)  //  Forward command
@@ -233,24 +226,17 @@
     }
 }
 
-extern  void    read_RPM    (uint32_t * dest)  ;
 void    rpm_cmd (struct parameters & a) //  to report e.g. RPM 1000 1000 ; speed for both motors
 {
-    if  (a.respond) {
-        uint32_t dest[3];
-        read_RPM    (dest);     //  gets rpm for each motor
-        a.com->printf  ("rpm%d %d\r", dest[0], dest[1]);
-    }
+    if  (a.respond) 
+        a.com->printf  ("rpm%d %d\r", MotorA.RPM, MotorB.RPM);
 }
 
 extern  double  rpm2mph ;
 void    mph_cmd (struct parameters & a) //  to report miles per hour
 {
-    if  (a.respond) {
-        uint32_t dest[3];
-        read_RPM    (dest);     //  gets rpm for each motor
-        a.com->printf ("mph%c %.3f\r", mode_bytes[ID], (double)(dest[0] + dest[1]) * rpm2mph / 2.0);
-    }
+    if  (a.respond) 
+        a.com->printf ("mph%c %.3f\r", mode_bytes[ID], (double)(MotorA.RPM + MotorB.RPM) * rpm2mph / 2.0);
 }
 
 void    menucmd (struct parameters & a);
@@ -343,7 +329,6 @@
     {"ls", "Lists available commands", menucmd},
     {"?", "Lists available commands, same as ls", menucmd},
     {"mtypes", "report types of motors found", mt_cmd},
-    {"pf", "try changing FastPWM prescaler values", pf_cmd},
     {"pot", "read drivers control pot", pot_cmd},
     {"fw", "forward", fw_cmd},
     {"re", "reverse", re_cmd},
@@ -405,7 +390,7 @@
 */
 //void    command_line_interpreter    (void const *argument)
 void    cli_core    (struct parameters & a) {
-    const int MAX_CMD_LEN = 120;
+    const int MAX_CMD_LEN = 180;
     int ch, IAm = I_Am();
     char * pEnd;//, * cmd_line_ptr;
     while  (a.com->readable()) {
@@ -414,8 +399,10 @@
             a.com->printf   ("Error!! Stupidly long cmd line\r\n");
             a.cl_index = 0;
         }
-        if(ch != '\r')  //  was this the 'Enter' key?
-            a.cmd_line[a.cl_index++] = ch;  //  added char to command being assembled
+        if(ch != '\r')  {   //  was this the 'Enter' key?
+            if  (ch != '\n')       //  Ignore line feeds
+                a.cmd_line[a.cl_index++] = ch;  //  added char to command being assembled
+        }
         else    {   //  key was CR, may or may not be command to lookup
             a.target_unit = BROADCAST;    //  Set to BROADCAST default once found command line '\r'
             a.cmd_line_ptr = a.cmd_line;

--- a/main.cpp	Tue Jan 15 09:03:57 2019 +0000
+++ b/main.cpp	Sat Jan 19 11:45:01 2019 +0000
@@ -1,12 +1,14 @@
 //  Cloned from 'DualBLS2018_06' on 23 November 2018
 #include "mbed.h"
 //#include    "users/mbed_official/code/mbed-dev/file/707f6e361f3e/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F401xE/device/stm32f401xe.h"
+#include "DualBLS.h"
+
 #include    "stm32f401xe.h"
-#include "DualBLS.h"
 #include "BufferedSerial.h"
 #include "FastPWM.h"
 #include "Servo.h"
 #include "brushless_motor.h"
+#include "Radio_Control_In.h"
 
 /*
 Brushless_STM3 board
@@ -50,10 +52,10 @@
             sys_timer           = 0,    //  gets incremented by our Ticker ISR every MAIN_LOOP_REPEAT_TIME_US
             AtoD_Semaphore      = 0;
 int         IAm;
-bool        loop_flag   = false;    //  made true in ISR_loop_timer, picked up and made false again in main programme loop
-bool        flag_8Hz    = false;    //  As loop_flag but repeats 8 times per sec
+bool        loop_flag   = false;        //  made true in ISR_loop_timer, picked up and made false again in main programme loop
+bool        flag_8Hz    = false;        //  As loop_flag but repeats 8 times per sec
 bool        temp_sensor_exists = false;
-bool        eeprom_flag; //  gets set according to 24LC674 being found or not
+bool        eeprom_flag;                //  gets set according to 24LC674 being found or not
 bool        mode_good_flag  = false;
 char        mode_bytes[36];
 
@@ -69,6 +71,9 @@
 Timer   temperature_timer;
 Timer   dc_motor_kicker_timer;
 Timeout motors_restore;
+RControl_In     RC_chan_1   (PC_14);
+RControl_In     RC_chan_2   (PC_15);   //  Instantiate two radio control input channels and specify which InterruptIn pin
+
 
 //  Interrupt Service Routines
 void    ISR_temperature_find_ticker ()      //  every 960 us, i.e. slightly faster than once per milli sec
@@ -109,104 +114,17 @@
     fast_sys_timer++;        //  Just a handy measure of elapsed time for anything to use
 }
 
-
-/**class   RControl_In
-    Checks for __-__ duration 800-2200us
-    Checks repetition rate in range 5-25ms
-*/
-class   RControl_In
+void    temp_sensor_isr ()      //  got rising edge from LMT01. ALMOST CERTAIN this misses some
 {
-    //  Read servo style pwm input
-    Timer   t;
-    int32_t pulse_width_us, period_us, pulse_count;
-public:
-    RControl_In   ()   {    //  Default Constructor
-        pulse_width_us = period_us = pulse_count = 0;
-        rx_active = false;
-        com2.printf ("Setting up Radio_Control_In\r\n");
-    }   ;
-    bool    validate_rx ()  ;
-    void    rise    ()  ;       //  InterruptIn ISRs redirected to these
-    void    fall    ()  ;
-    uint32_t    pulsecount    ()  ;
-    uint32_t    pulsewidth    ()  ;
-    uint32_t    period    ()  ;
-    double  normalised    ();   //  Returns 0.0 <= p <= 1.0 or something else when rc not active
-    bool    rx_active;
-}   ;
-
-
-uint32_t    RControl_In::pulsewidth   ()
-{
-    return  pulse_width_us;
-}
-
-uint32_t    RControl_In::pulsecount   ()
-{
-    return  pulse_count;
-}
-
-uint32_t    RControl_In::period   ()
-{
-    return  period_us;
+    int t = temperature_timer.read_us   (); //  Must be being overrun by something, most likely culprit A-D reading ?
+    temperature_timer.reset ();
+    temp_sensor_count++;
+    if  (t > 18)            //  Yes proved some interrupts get missed, this fixes temperature reading
+        temp_sensor_count++;
+//    T2 = !T2;   //  scope hanger
 }
 
-bool    RControl_In::validate_rx ()
-{   //  Tests for pulse width and repetition rates being believable
-    if  ((period_us < 5000) || (period_us > 25000) || (pulse_width_us < 800) || (pulse_width_us > 2200))
-    {
-        rx_active = false;
-        pc.printf   ("RC per=%d, pw=%d\r\n", period_us, pulse_width_us);
-    }
-    else
-        rx_active = true;
-    return  rx_active;
-}
-
-double  RControl_In::normalised  ()  {
-    if  (!validate_rx())
-        return  0.0;       //  ** WHAT TO RETURN WHEN RC NOT ACTIVE ? **
-    double norm = (double) (pulse_width_us - 1000);  //  left with -200 to + 1200 allowing for some margin
-    norm /= 1000.0;
-    if  (norm > 1.0)
-        norm = 1.0;
-    if  (norm < 0.0)
-        norm = 0.0;
-    return  norm;
-}
-
-void    RControl_In::rise    ()     //  These may not work as use of PortB as port may bugger InterruptIn use ** THIS IS SO **
-{                                   //  December 2018 - ** FIXED ** by using PC_14 and 15 instead
-//    t.stop   ();
-    period_us = t.read_us    ();
-    t.reset ();
-    t.start ();
-}
-void    RControl_In::fall    ()
-{
-    pulse_width_us = t.read_us   ();
-    pulse_count++;
-}
-//  end of RControl_In class
-
-    RControl_In RC_chan_1, RC_chan_2;   //  Declare two radio control input channels
-
-//  Radio Control Input Interrupt Handlers
-void    RC_chan_1rise   ()  {
-    RC_chan_1.rise  ();
-}
-void    RC_chan_1fall   ()  {
-    RC_chan_1.fall  ();
-}
-void    RC_chan_2rise   ()  {
-    RC_chan_2.rise  ();
-}
-void    RC_chan_2fall   ()  {
-    RC_chan_2.fall  ();
-}
-//  End of Radio Control Input Interrupt Handlers
-
-//Servo * Servos[2];    //  Is possible to create pointers to Servo but no need to.
+//  End of Interrupt Service Routines
 
 //uint32_t    HAtot = 0, HBtot = 0, A_Offset = 0, B_Offset = 0;
 /*
@@ -232,11 +150,7 @@
     0,  BRA,BRA,BRA,BRA,BRA,BRA,BRA,   //  Regenerative Braking
     KEEP_L_MASK_A, KEEP_H_MASK_A   //  [32 and 33]
 }   ;
-InterruptIn * AHarr[] = {
-    &MAH1,
-    &MAH2,
-    &MAH3
-}   ;
+
 const   uint16_t    B_tabl[] = {
     0,  0,  0,  0,  0,  0,  0,  0,  //  Handbrake
     0,  BWHVL,BVHUL,BWHUL,BUHWL,BUHVL,BVHWL,BUHWL,  //  Forward 0, WV1, VU1, WU1, UW1, UV1, VW1, 0,    //  JP, FR, SG, PWM = 1 0 1 1   Forward1
@@ -244,15 +158,9 @@
     0,  BRB,BRB,BRB,BRB,BRB,BRB,BRB,   //  Regenerative Braking
     KEEP_L_MASK_B, KEEP_H_MASK_B
 }   ;
-InterruptIn * BHarr[] = {
-    &MBH1,
-    &MBH2,
-    &MBH3
-}   ;
 
-
-brushless_motor   MotorA  (&MotA, &A_MAX_V_PWM, &A_MAX_I_PWM, A_tabl, AHarr);
-brushless_motor   MotorB  (&MotB, &B_MAX_V_PWM, &B_MAX_I_PWM, B_tabl, BHarr);
+brushless_motor   MotorA  (MOT_A_I_ADC, APWMV, APWMI, A_tabl, _MAH1, _MAH2, _MAH3, PortA, PORT_A_MASK);
+brushless_motor   MotorB  (MOT_B_I_ADC, BPWMV, BPWMI, B_tabl, _MBH1, _MBH2, _MBH3, PortB, PORT_B_MASK);
 
 
 void    report_motor_types  ()      //  not very good test, shows 'Brushless' if Hall inputs read 1 to 6, 'DC' otherwise
@@ -260,43 +168,6 @@
     pc.printf   ("Mot A is %s, Mot B is %s\r\n", MotorA.motor_is_brushless() ? "Brushless":"DC", MotorB.motor_is_brushless() ? "Brushless":"DC");
 }
 
-void    temp_sensor_isr ()      //  got rising edge from LMT01. ALMOST CERTAIN this misses some
-{
-    int t = temperature_timer.read_us   (); //  Must be being overrun by something, most likely culprit A-D reading ?
-    temperature_timer.reset ();
-    temp_sensor_count++;
-    if  (t > 18)            //  Yes proved some interrupts get missed, this fixes temperature reading
-        temp_sensor_count++;
-//    T2 = !T2;   //  scope hanger
-}
-
-
-void    MAH_isr    ()
-{
-    uint32_t x = 0;
-    MotorA.high_side_off    ();
-//    T3 = !T3;
-    if  (MAH1 != 0) x |= 1;
-    if  (MAH2 != 0) x |= 2;
-    if  (MAH3 != 0) x |= 4;
-    MotorA.Hindex[0] = x;       //  New in [0], old in [1]
-    MotorA.Hall_change  ();
-}
-
-void    MBH_isr    ()
-{
-    uint32_t x = 0;
-    MotorB.high_side_off    ();
-    if  (MBH1 != 0) x |= 1;
-    if  (MBH2 != 0) x |= 2;
-    if  (MBH3 != 0) x |= 4;
-    MotorB.Hindex[0] = x;
-    MotorB.Hall_change  ();
-}
-
-
-//  End of Interrupt Service Routines
-
 void    setVI   (double v, double i)
 {
     MotorA.set_V_limit  (v);  //  Sets max motor voltage
@@ -304,37 +175,19 @@
     MotorB.set_V_limit  (v);
     MotorB.set_I_limit  (i);
 }
+
 void    setV    (double v)
 {
     MotorA.set_V_limit  (v);
     MotorB.set_V_limit  (v);
 }
+
 void    setI    (double i)
 {
     MotorA.set_I_limit  (i);
     MotorB.set_I_limit  (i);
 }
 
-void    read_RPM    (uint32_t * dest)
-{
-    dest[0] = MotorA.RPM;
-    dest[1] = MotorB.RPM;
-}
-
-void    read_PPS    (uint32_t * dest)
-{
-    dest[0] = MotorA.PPS;
-    dest[1] = MotorB.PPS;
-}
-
-void    read_last_VI    (double * d)      //  only for test from cli
-{
-    d[0]    = MotorA.last_V;
-    d[1]    = MotorA.last_I;
-    d[2]    = MotorB.last_V;
-    d[3]    = MotorB.last_I;
-}
-
 
 /**
 void    AtoD_reader ()  //  Call to here every VOLTAGE_READ_INTERVAL_US    = 50 once loop responds to flag set in isr
@@ -342,7 +195,7 @@
 */
 void    AtoD_reader ()  //  Call to here every VOLTAGE_READ_INTERVAL_US    = 50 once loop responds to flag set in isr
 {
-    static uint32_t i = 0, tab_ptr = 0;
+    static uint32_t i = 0;
 //    if  (MotorA.dc_motor)   {
 //        MotorA.low_side_on  ();
 //    }
@@ -374,12 +227,10 @@
                 driverpot_reading >>= 1;
                 break;
             case    2:
-                MotorA.current_samples[tab_ptr] = Motor_A_Current.read_u16    (); //
+                MotorA.sniff_current    (); //  Initiate ADC reading into averaging table
                 break;
             case    3:
-                MotorB.current_samples[tab_ptr++] = Motor_B_Current.read_u16    (); //
-                if  (tab_ptr >= CURRENT_SAMPLES_AVERAGED)   //  Current reading will be lumpy and spikey, so put through moving average filter
-                    tab_ptr = 0;
+                MotorB.sniff_current    ();
                 break;
         }
         i++;    //  prepare to read the next input in response to the next interrupt
@@ -444,13 +295,6 @@
     return  ((double) volt_reading) / 951.0;    //  divisor fiddled to make voltage reading correct !
 }
 
-void    read_supply_vi   (double * val)     //  called from cli
-{
-    val[0] = MotorA.I.ave;
-    val[1] = MotorB.I.ave;
-    val[2] = Read_BatteryVolts  ();
-}
-
 void    mode_set_both_motors   (int mode, double val)      //  called from cli to set fw, re, rb, hb
 {
     MotorA.set_mode (mode);
@@ -511,28 +355,6 @@
     }
 }
 
-//int ttime = 3;    //  resettable via cli 'stt', used to determine suitable force low on period for driving dc motor
-
-void    prscfuck    (int v) {
-/*
-int prescaler   (   int     value )     
-
-Set the PWM prescaler.
-
-The period of all PWM pins on the same PWM unit have to be reset after using this!
-
-Parameters:
-    value   - The required prescaler. Special values: 0 = lock current prescaler, -1 = use dynamic prescaler
-    return  - The prescaler which was set (can differ from requested prescaler if not possible)
-
-Definition at line 82 of file FastPWM_common.cpp.
-*/
-    if  (v < 1)
-        v = 1;
-    int w = A_MAX_V_PWM.prescaler   (v);
-    pc.printf   ("Attempt setting prescaler %d returned %d\r\n", v, w);
-}
-
 void    rcin_report ()  {
     double c1 = RC_chan_1.normalised();
     double c2 = RC_chan_2.normalised();
@@ -545,7 +367,7 @@
         pc.printf   ("\t2 period %d, pulsewidth %d\r\n", RC_chan_2.period(), RC_chan_2.pulsewidth());
 }
 
-bool    worth_the_bother    (double a, double b)    {
+bool    worth_the_bother    (double a, double b)    {   //  Tests size of change. No point updating tiny demand changes
     double c = a - b;
     if  (c < 0.0)
         c = 0.0 - c;
@@ -604,17 +426,17 @@
         case    HAND_CONT_IDLE:         //  Here for first few passes until validated direction switch reading
             break;
 
-        case    HAND_CONT_BRAKE_WAIT:
+        case    HAND_CONT_BRAKE_WAIT:   //  Only get here after direction input changed or newly validated at power on
             pc.printf   ("At HAND_CONT_BRAKE_WAIT\r\n");
             brake_effort = 0.05;    //  Apply braking not too fiercely
             mode_set_both_motors    (REGENBRAKE, brake_effort);  //  Direction change 
             hand_controller_state = HAND_CONT_BRAKE_POT;
             break;
 
-        case    HAND_CONT_BRAKE_POT:
-            if  (brake_effort < 0.9)    {
-                brake_effort += 0.05;   //  ramp braking up to max over about one sec
-                mode_set_both_motors    (REGENBRAKE, brake_effort);  //  Direction change 
+        case    HAND_CONT_BRAKE_POT:        //  Only get here after one pass through HAND_CONT_BRAKE_WAIT but
+            if  (brake_effort < 0.9)    {   //   remain in this state until driver has turned pott fully anticlockwise
+                brake_effort += 0.05;   //  ramp braking up to max over about one sec after direction change or validation
+                mode_set_both_motors    (REGENBRAKE, brake_effort);  //  Direction change or testing at power on
                 pc.printf   ("Brake effort %.2f\r\n", brake_effort);
             }
             else    {   //  once braking up to quite hard
@@ -647,7 +469,7 @@
             }
             break;
 
-        case    HAND_CONT_STATE_INTO_DRIVING:
+        case    HAND_CONT_STATE_INTO_DRIVING:   //  Only get here after HAND_CONT_STATE_BRAKING
             pc.printf   ("Drive\r\n");
             if  (direction_new == 1)
                 mode_set_both_motors   (FORWARD, 0.0);  //  sets both motors
@@ -680,47 +502,9 @@
     int eighth_sec_count = 0;
     double  servo_angle = 0.0;  //  For testing servo outs
 
-    MotA   = 0;     //  Output all 0s to Motor drive ports A and B
-    MotB   = 0;
-//    MotPtr[0] = &MotorA;    //  Pointers to motor class objects
-//    MotPtr[1] = &MotorB;
 
     Temperature_pin.fall (&temp_sensor_isr);
     Temperature_pin.mode (PullUp);
-#ifdef  RC1IN
-    RC_1_in.rise    (& RC_chan_1rise)  ;
-    RC_1_in.fall    (& RC_chan_1fall)  ;
-    RC_1_in.mode    (PullDown);
-#endif
-#ifdef  RC2IN
-    RC_2_in.rise    (& RC_chan_2rise)  ;
-    RC_2_in.fall    (& RC_chan_2fall)  ;
-    RC_2_in.mode    (PullDown);
-#endif
-//    Servo1_i.mode   (PullUp); //  These never worked, December 2018 re-trying using PC_14 and 15
-//    Servo2_i.mode   (PullUp);
-
-    MAH1.rise   (& MAH_isr);    //  Set up interrupt vectors
-    MAH1.fall   (& MAH_isr);
-    MAH2.rise   (& MAH_isr);
-    MAH2.fall   (& MAH_isr);
-    MAH3.rise   (& MAH_isr);
-    MAH3.fall   (& MAH_isr);
-
-    MBH1.rise   (& MBH_isr);
-    MBH1.fall   (& MBH_isr);
-    MBH2.rise   (& MBH_isr);
-    MBH2.fall   (& MBH_isr);
-    MBH3.rise   (& MBH_isr);
-    MBH3.fall   (& MBH_isr);
-
-    MAH1.mode   (PullUp);
-    MAH2.mode   (PullUp);
-    MAH3.mode   (PullUp);
-    MBH1.mode   (PullUp);
-    MBH2.mode   (PullUp);
-    MBH3.mode   (PullUp);
-
     //  Setup system timers to cause periodic interrupts to synchronise and automate volt and current readings, loop repeat rate etc
     tick_vread.attach_us    (&ISR_voltage_reader, VOLTAGE_READ_INTERVAL_US);    //  Start periodic interrupt generator
     loop_timer.attach_us    (&ISR_loop_timer, MAIN_LOOP_REPEAT_TIME_US);    //  Start periodic interrupt generator
@@ -728,8 +512,6 @@
     //  Done setting up system interrupt timers
     temperature_timer.start ();
 
-//    const   int TXTBUFSIZ = 36;
-//    char    buff[TXTBUFSIZ];
     pc.baud     (9600);
     com3.baud   (1200);
     com2.baud   (19200);
@@ -788,45 +570,8 @@
     MotorB.set_mode (REGENBRAKE);
     setVI  (0.9, 0.5);
 
-//    prscfuck    (PWM_PRESECALER_DEFAULT);    //  Test fucking with fastpwm prescaler
-
-//    Servos[0] = Servos[1] = NULL;
-    //  NOTE The ONLY way to get both servos working properly is to NOT use any if (bla) Servo ervo1(PB_8);
-    //  Only works with unconditional inline code
-    //  However, setup code for Input by default,
-    //  This can be used to monitor Servo output also !
-
-//  December 2018   ** NEED TO PROVE SERVO OUT WORKS ** YES, DONE.
-    Servo   Servo1  (PB_8)  ;
-//    Servos[0] = & Servo1;
-    Servo   Servo2  (PB_9)  ;
-//    Servos[1] = & Servo2;
-
-//    pc.printf   ("last_temp_count = %d\r\n", last_temp_count);  //  Has had time to do at least 1 conversion
     if  ((last_temp_count > 160) && (last_temp_count < 2400))   //  in range -40 to +100 degree C
         temp_sensor_exists  = true;
-    /*
-        //  Setup Complete ! Can now start main control forever loop.
-        //  March 16th 2018 thoughts !!!
-        //  Control from one of several sources and types as selected in options bytes in eeprom.
-        //  Control could be from e.g. Pot, Com2, Servos etc.
-        //  Suggest e.g.
-    */    /*
-    switch  (mode_byte) {   //  executed once only upon startup
-        case    POT:
-            while   (1) {   //  forever loop
-                call    common_stuff    ();
-                ...
-            }
-            break;
-        case    COM2:
-            while   (1) {   //  forever loop
-                call    common_stuff    ();
-                ...
-            }
-            break;
-    }
-    */
 //    pc.printf   ("Ready to go!, wheel gear in position %d\r\n", WHEELGEAR);
     dc_motor_kicker_timer.start   ();
     int old_hand_controller_direction = T5;
@@ -839,18 +584,13 @@
     }
 
     pc.printf   ("About to start!, mode_bytes[COMM_SRC]= %d\r\n", mode_bytes[COMM_SRC]);
-//    const   double  pwr = 1.5;SERVOIN_PWR_BENDER
-//    for (double i = 0.0; i < 1.05; i+= 0.1)
-//    pc.printf   ("%f ^ %f = %f\r\n", i, SERVOIN_PWR_BENDER, pow(i, SERVOIN_PWR_BENDER));
-
-//    pc.printf   ("PortA=%lx\r\n", PortA);
 
     while   (1) {      //  Loop forever, repeats synchroised by waiting for ticker Interrupt Service Routine to set 'loop_flag' true
         while   (!loop_flag)  {         //  Most of the time is spent in this loop, repeatedly re-checking for commands from pc port
             command_line_interpreter_pc    ()  ;   //  Proceed beyond here once loop_timer ticker ISR has set loop_flag true
             command_line_interpreter_loco    ()  ;   //  Proceed beyond here once loop_timer ticker ISR has set loop_flag true
             AtoD_reader ();                     //  Performs A to D conversions at rate set by ticker interrupts
-        }
+        }                       //  32Hz original setting for loop repeat rate
         loop_flag = false;              //  Clear flag set by ticker interrupt handler. WHEN LAST CHECKED this was about every 32ms
 
         RC_chan_1.validate_rx();
@@ -859,20 +599,20 @@
         switch  (mode_bytes[COMM_SRC])  {   //  Look to selected source of driving command, act on commands from wherever
             case    0:  //  Invalid
                 break;
-            case    1:  //  COM1    -   Primarily for testing, bypassed by command line interpreter
+            case    COM1:  //  COM1    -   Primarily for testing, bypassed by command line interpreter
                 break;
-            case    2:  //  COM2    -   Primarily for testing, bypassed by command line interpreter
+            case    COM2:  //  COM2    -   Primarily for testing, bypassed by command line interpreter
                 break;
-            case    3:  //  Put all hand controller input stuff here
+            case    HAND:  //  Put all hand controller input stuff here
                 hand_control_state_machine  (3);
                 break;  //  endof hand controller stuff
-            case    4:  //  Servo1
+            case    RC_IN1:  //  RC_chan_1
                 hand_control_state_machine  (4);
                 break;
-            case    5:  //  Servo2
+            case    RC_IN2:  //  RC_chan_2
                 break;
             default:
-                pc.printf   ("Unrecognised state %d\r\n", mode_bytes[COMM_SRC]);
+                pc.printf   ("Unrecognised state %d\r\n", mode_bytes[COMM_SRC]);    //  set error flag instead here
                 break;
         }   //  endof   switch  (mode_bytes[COMM_SRC])  {
 
@@ -918,8 +658,10 @@
                                     pc.printf   ("Temp %.2f\r\n", tmprt);
                                 }*/
 //                com2.printf   ("V=%+.2f, Pot=%+.2f, HA %d, HB %d, IAmin %d, IAave %d, IAmax %d, IB %d, Arpm %d, Brpm %d\r\n", Read_BatteryVolts(), Read_DriverPot(), MotorA.read_Halls  (), MotorB.read_Halls  (), MotorA.I.min, MotorA.I.ave, MotorA.I.max, MotorB.I.ave, (Apps * 60) / 24, (Bpps * 60) / 24);
+//                com2.printf   ("V=%+.2f, Pot=%+.2f, HA %d, HB %d, IAmin %d, IAave %d, IAmax %d, IB %d\r\n", Read_BatteryVolts(), Read_DriverPot(), MotorA.read_Halls  (), MotorB.read_Halls  (), MotorA.I.min, MotorA.I.ave, MotorA.I.max, MotorB.I.ave);
             }
-            
+#define SERVO_OUT_TEST
+#ifdef  SERVO_OUT_TEST
             //  servo out test here     December 2018
             servo_angle += 0.01;
             if  (servo_angle > TWOPI)
@@ -927,7 +669,8 @@
             Servo1 = ((sin(servo_angle)+1.0) / 2.0);
             Servo2 = ((cos(servo_angle)+1.0) / 2.0);
             //  Yep!    Both servo outs work lovely December 2018
-            
+#endif
         }   //  End of if(flag_8Hz)
     }       //  End of main programme loop
 }
+

--- a/mbed.bld	Tue Jan 15 09:03:57 2019 +0000
+++ b/mbed.bld	Sat Jan 19 11:45:01 2019 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/7130f322cb7e
\ No newline at end of file
+https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc
\ No newline at end of file