Revision 1:5c48d64f17cb, committed 2019-05-23

Comitter:

Tarzoozoo

Date:

Thu May 23 16:47:10 2019 +0000

Parent:

0:18fcf04b703b

Commit message:

with IR;

Changed in this revision

--- a/main.cpp	Mon Apr 29 05:12:42 2019 +0000
+++ b/main.cpp	Thu May 23 16:47:10 2019 +0000
@@ -36,6 +36,8 @@
 DigitalOut R_NA(PA_7); //old 0
 DigitalOut R_NB(PB_6); //old 1
 
+DigitalIn IR(PA_8); //D7
+DigitalOut led(LED1);
 //
 float R = 0.09; // m unit
 int get_pluse_L , get_pluse_R = 0;
@@ -43,7 +45,7 @@
 float Omega_e_R, Omega_w_R, V_real_R;
 float test_time_2;
 float test_time;
-float V_array[2];
+float V_array[3];
 float raw_test[2]; //old duble
 float V_raw, Omega_raw; //old duble
 float V_cal_L, V_cal_R;
@@ -88,6 +90,16 @@
            
         V_array[0] = V_real_L;
         V_array[1] = V_real_R;
+        V_array[2] = 0;
+        
+        if (IR == 1){
+            V_array[2] = 1;
+            led = 0;
+            }
+        else if (IR == 0){
+            V_array[2] = 0;
+            led = 1;
+            }
         //V_array[0] = get_pluse_L;
         //V_array[1] = get_pluse_R;
         Array_msg.data = V_array;
@@ -171,7 +183,7 @@
     mypwm_R.period(0.0005);
    // mypwm_L = 0;
 //    mypwm_R = 0;
-    
+    led = 1;
     while (1) {
         nh.spinOnce();
         wait_ms(1);