Diff: main.cpp

Revision:

1:08315c315df0

Parent:

0:d665d69947ab

Child:

2:00535b62c344

diff -r d665d69947ab -r 08315c315df0 main.cpp
--- a/main.cpp	Sat Feb 23 14:16:20 2019 +0000
+++ b/main.cpp	Sat Feb 23 16:45:39 2019 +0000
@@ -1,5 +1,12 @@
 #include "mbed.h"
 
+//Analog inputs A0-A5 addressable as such. A6 to A9 do not work.
+AnalogIn ANALOG0(A0);
+AnalogIn ANALOG1(A1);
+AnalogIn ANALOG2(A2);
+AnalogIn ANALOG3(A3);
+AnalogIn ANALOG4(A4);
+AnalogIn ANALOG5(A5);
 SPISlave rpi(PB_5, PB_4, PB_3, PA_15); //setup SPI pins to talk to the raspberry pi
 //PA_9 - MLB //PA_8 - MLF //PA_10 - MRF //PA_11 - MRB
 PwmOut      MRB(PA_11); //back right motor
@@ -18,13 +25,14 @@
 float m_duty [4] = {0.0, 0.0, 0.0, 0.0}; //setup array for motor pwm duty
 int m_distance_ref [4] = {0,0,0,0}; //setup array for 4 motor distances
 int max_accel = 0; //for storing the maximum acceleration
-int adc_values[10] = {0,0,0,0,0,0,0,0,0,0}; //setup array for ADC values
+int adc_values[6] = {0,0,0,0,0,0}; //setup array for ADC values
 
 
 int main()
 {
     int i = 0; //temp counter variable
     int v = 0; //temp SPI variable
+    
 
     //setup driver pins
     LAIN1 = 1;
@@ -52,15 +60,20 @@
         for (i=0;i<=3;i++){
             m_duty[i] = float(m_speed_ref[i])/100.0;
         }
- /*       MRB.write(m_speed_ref[0]/100);
-        MRF.write(m_speed_ref[1]/100);
-        MLB.write(m_speed_ref[2]/100);
-        MLF.write(m_speed_ref[3]/100); */
         MRB.write(m_duty[0]);
         MRF.write(m_duty[1]);
         MLB.write(m_duty[2]);
         MLF.write(m_duty[3]);
         
+//read all the ADC values when not doing something else
+        adc_values[0] = int(ANALOG0.read()*255);
+        adc_values[1] = int(ANALOG1.read()*255);
+        adc_values[2] = int(ANALOG2.read()*255);
+        adc_values[3] = int(ANALOG3.read()*255);
+        adc_values[4] = int(ANALOG4.read()*255);
+        adc_values[5] = int(ANALOG5.read()*255);
+        
+        
         //do SPI communication stuff
         if(rpi.receive()) {
             v = rpi.read();   // Read byte from master
@@ -96,7 +109,7 @@
             else if(v == char('V')){
                 rpi.reply(0x04);                 
                 v = rpi.read();
-                if(v <= 9){ //check the ADC to be addressed exists
+                if(v <= 6){ //check the ADC to be addressed exists
                     rpi.reply(adc_values[v]);
                 }
                 v = rpi.read(); //last bit setup a blank reply