Diff: main.cpp

Revision:

28:d1e7daeb240e

Parent:

27:fc0fd2c0eebb

Child:

29:307b45a52401

Child:

30:60c424504a8b

--- a/main.cpp	Mon Mar 23 14:07:35 2015 +0000
+++ b/main.cpp	Mon Mar 23 14:23:21 2015 +0000
@@ -18,11 +18,13 @@
 
 #define PWM_PERIOD_US 10000
 
+DigitalOut led(LED_RED);
 Serial HC06(PTE0,PTE1);
 
 Timer measureTimer; //Timer used for measurement
 
-//Motor_Driver motors(PTD4, PTA12, PTA4, PTA5, PTC9, PTC8, PWM_PERIOD_US);
+
+Motor_Driver motors(PTA5, PTC9, PTC8,PTD4, PTA12, PTA4, PWM_PERIOD_US);
 
 typedef enum  mode {REGULAR,SQUARE} mode; //enumeration for different states
 mode driveMode; //declaring the variable for the states
@@ -63,10 +65,10 @@
 
 int main() {
         
-    Motor_Driver motors(PTA5, PTC9, PTC8,PTD4, PTA12, PTA4, PWM_PERIOD_US);
-    
+
    // setup_counter(1000, 0);
    // float frequency = measure_frequency(CHANNEL_1);
+    led = 1; //start LED with beginning of main program
     measureTimer.start();
     driveMode = REGULAR; //initialise drivemoder
     sensor_initialise(); // initialise sensor values
@@ -74,31 +76,31 @@
     
     sensorTimer.start(); // start timer for sensors
 //    float normalSpeed = 0.01f;
-/*
+
     while(1){
         if (pc.getc() == 'r') {
-        measureSensors();
-        //measureTimer.reset();
-        printBluetooth();
-        //passedTime1 = measureTimer.read_ms();
-        //if (sensorsCheckSum == 0) {
-//            motors.setSpeed(normalSpeed);
-//            }
-//        else if (sensorsCheckSum == 1 || sensorsCheckSum == 9 || sensorsCheckSum == 10 || sensorsCheckSum == 14 || sensorsCheckSum==26){
-//            motors.setLeftSpeed(normalSpeed/2);
-//            
-//            motors.setRightSpeed(normalSpeed*6);
-//        }
-//        else if (sensorsCheckSum == 4 && sensorsCheckSum ==16 || sensorsCheckSum == 20 || sensorsCheckSum ==21 ||sensorsCheckSum== 29) {
-//            motors.setRightSpeed(normalSpeed/2);
-//            motors.setLeftSpeed(normalSpeed*9);
-//        }
-//        else {
-//            motors.setSpeed(normalSpeed);
-//        }
+            measureSensors();
+            printBluetooth();
+        }
+        if (sensorsCheckSum == 0) {
+            motors.setSpeed(normalSpeed);
+            }
+        else if (sensorsCheckSum == 1 || sensorsCheckSum == 9 || sensorsCheckSum == 10 || sensorsCheckSum == 14 || sensorsCheckSum==26){
+            motors.setLeftSpeed(normalSpeed/2);
+            
+            motors.setRightSpeed(normalSpeed*6);
+        }
+        else if (sensorsCheckSum == 4 && sensorsCheckSum ==16 || sensorsCheckSum == 20 || sensorsCheckSum ==21 ||sensorsCheckSum== 29) {
+            motors.setRightSpeed(normalSpeed/2);
+            motors.setLeftSpeed(normalSpeed*9);
+        }
+        else {
+            motors.setSpeed(normalSpeed);
+        }
     }
-*/
-//    int testOtherCases = 0; //needed for control statements
+
+/*
+    int testOtherCases = 0; //needed for control statements
     while (1) {
        
         if (driveMode == REGULAR) {
@@ -219,14 +221,20 @@
                     measureSensors();
                     } while (sensorsCheckSum != 94);
                     motors.stop();
-                }            
+                }    
+            }        
         break;              
         default:
             measureSensors(); 
             break;
-        }
-    }
-}
-}
-}
+        } 
+    } // if statement
+    else {
+        testOtherCases = 1;
+        }//if driveMode == SQUARE
+    
+    }//while loop
+    */
+} //int main
 
+