Revision 5:08f338b5e4d9, committed 2019-02-19

Comitter:

estott

Date:

Tue Feb 19 09:22:17 2019 +0000

Parent:

3:569b35e2a602

Child:

6:8167675195f6

Commit message:

For V1.1 MCU board

Changed in this revision

--- a/main.cpp	Thu Mar 01 09:41:46 2018 +0000
+++ b/main.cpp	Tue Feb 19 09:22:17 2019 +0000
@@ -1,21 +1,25 @@
 #include "mbed.h"
 
 //Photointerrupter input pins
-#define I1pin D2
+#define I1pin D6
 #define I2pin D11
 #define I3pin D12
 
 //Incremental encoder input pins
-#define CHA   D7
-#define CHB   D8  
+#define CHA   D4
+#define CHB   D5
 
 //Motor Drive output pins   //Mask in output byte
-#define L1Lpin D4           //0x01
-#define L1Hpin D5           //0x02
-#define L2Lpin D3           //0x04
-#define L2Hpin D6           //0x08
-#define L3Lpin D9           //0x10
-#define L3Hpin D10          //0x20
+#define L1Lpin D9           //0x01
+#define L1Hpin D10           //0x02
+#define L2Lpin D1           //0x04
+#define L2Hpin D2          //0x08
+#define L3Lpin D0           //0x10
+#define L3Hpin D3          //0x20
+
+//Motor current sense
+#define MCSPpin   A1
+#define MCSNpin   A0
 
 //Mapping from sequential drive states to motor phase outputs
 /*
@@ -114,6 +118,7 @@
         if (intState != intStateOld) {
             intStateOld = intState;
             motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
+            //pc.printf("%d\n\r",intState);
         }
     }
 }