Diff: LineFollowingRobot/main.cpp

Revision:

2:74d8b693bc62

Parent:

1:a2ceed49374e

Child:

3:54c41af9e119

--- a/LineFollowingRobot/main.cpp	Sat Feb 02 16:11:37 2019 +0000
+++ b/LineFollowingRobot/main.cpp	Sat Feb 02 16:38:08 2019 +0000
@@ -2,31 +2,70 @@
 #include "RobotControl_H.h"
 #include "IRSensor_H.h"
 
+/*
+Team Design Project 3 Group 1 : Create a Line Following Robot 
 
-Ticker sampling;
+-----PINOUT-----
+
+IR Sensor Pinout :
+    - Left Sensor :         PTC6
+    - Middle Left Sensor :  PTC5
+    - Middle Sensor :       PTC4
+    - Middle Right Sensor : PTC3
+    - Right Sensor :        PTC0
+    
+Motor Left Control :
+    - Motor Enable :        PTA12
+    - Backwards PWM :       PTA4
+    - Forward PWM :         PTA5
+
+Motor Left Control :
+    - Motor Enable :        PTA13
+    - Backwards PWM :       PTD5
+    - Forward PWM :         PTD0
+
+-----ARCHITECTURE-----
+
+RobotControl:
+    Class which controls the speed and Direction of the Robot
+    
+IRSensor :
+    Class which deals with sampling the IR sensors and with the PID Calculations
+    The sampling happens every 10 ms thanks to the IRsampling Ticker
+    
+*/
+
+
+
+Ticker IRsampling;
 
 
 
 int main(){
 
+
 bool toggleIR;
 
 IRSensor IRSensor(PTC6, PTC5, PTC4, PTC3, PTC0, 0.0, 0.0, 0.0);
 
-sampling.attach(callback(&IRSensor, &IRSensor::Sample), 0.01);
+IRsampling.attach(callback(&IRSensor, &IRSensor::Sample), 0.01);
 
-RobotControl controlLeft(PTC12,PTD4,PTA5);
-RobotControl controlRight(PTA13,PTA12,PTA4);
+//initialise the class twice, one controls the left part and the other the right
+RobotControl controlLeft(PTA12,PTA4,PTA5);
+RobotControl controlRight(PTA13,PTD5,PTD0);
 
 
  
  while(1){
 
-    
+    //waits for an interrupt to occur, then performs all the calculations
     if(toggleIR != IRSensor.m_toggle){
+        
         IRSensor.WeightPID();
         IRSensor.CalculatePID();
         IRSensor.MotorControl(controlLeft,controlRight);
+        
+        toggleIR = IRSensor.m_toggle;
         }
         
     }