Diff: main.cpp

Revision:

2:7f9d0d59c7f5

Parent:

1:ec9cd1ae6f86

--- a/main.cpp	Thu Feb 05 16:57:02 2015 +0000
+++ b/main.cpp	Sat Feb 07 19:38:19 2015 +0000
@@ -1,7 +1,7 @@
 #include "mbed.h"
 /* 
-  Example of Program for the MonsterMoto Shield on the ST Nucleo F401RE
-  Code by : Didier Donsez
+  Example of Program for the MonsterMoto Shield on the ST Nucleo L152RE
+  Code by : Vivien Michel
   
   Based on the Arduino sketch example coded by: Jim Lindblom,  SparkFun Electronics
  
@@ -92,11 +92,6 @@
     if (direct <=4)
     {
       if (direct <=1)
-        dirA.write(HIGH);
-      else
-        dirA.write(LOW);
-
-      if ((direct==0)||(direct==2))
         dirB.write(HIGH);
       else
         dirB.write(LOW);
@@ -111,14 +106,9 @@
     {
       if (direct <=1)
         dirA.write(HIGH);
-      else
+    else
         dirA.write(LOW);
-
-      if ((direct==0)||(direct==2))
-        dirB.write(HIGH);
-      else
-        dirB.write(LOW);
-
+        
         pwmRightpin.write(percent);
     }
 }
@@ -133,22 +123,22 @@
 {
   goLeftMotor(CW, MAXSPEED);
   goRightMotor(CCW, MAXSPEED);
-  checkShield();
+  //checkShield();
   wait_ms(5000);
 
   stopLeftMotor();
   stopRightMotor();
-  checkShield();
+  //checkShield();
   wait_ms(2000);
 
-  goLeftMotor(CCW, MAXSPEED);
-  goRightMotor(CW, MAXSPEED);
-  checkShield();
-  wait_ms(5000);
+  goLeftMotor(CCW, 255.0f);
+  goRightMotor(CW, 255.0f);
+  //checkShield();
+  wait_ms(3000);
 
   stopLeftMotor();
   stopRightMotor();
-  checkShield();
+  //checkShield();
   wait_ms(2000);
 }