Diff: main.cpp

Revision:

12:2d3d7a9ca496

Parent:

11:be7660614c5c

Child:

13:6cea4a9fcf7a

--- a/main.cpp	Thu Oct 15 21:20:23 2015 +0000
+++ b/main.cpp	Fri Oct 16 09:51:14 2015 +0000
@@ -18,45 +18,46 @@
 
 int main()
 {
-   float cycle = 0.7;//define the speed of the motor
+   float cycle = 0.3;//define the speed of the motor
    bool motor1_on = 1;//set the on variable of motor 1
    int motor1_dir=0;//set the direction of motor 1
    bool motor2_on =1;//set the on variable of motor 2
    int motor2_dir = 0;//set the direction of motor 1
-   int n1=1;
+   int n1=1;//numeric condtions to determine if the speed needs to be increased
    int n2=1;
+   bool CW =1;
+   bool CCW = 0;
    
 while(1){
        led3.write(0);
        led1.write(1);
        led2.write(1);
-       speed1.write(0);//set motor 1 speed to 0 
-       speed2.write(0);//set motor 2 speed to 0
        pc.baud(115200);
        
         int diffa1 = button1.read();//read out the button 1 signal and calculate if it is being pressed or released
         wait(0.2);//from this we can determine if the rotation direction needs to be reversed.
         int diffb1 = button1.read();
         int button_toggle1 = diffa1-diffb1;
-        if(button_toggle1 == 1 && motor1_dir == 1){
-                motor1_dir = 0;
+        if(button_toggle1 == 1 && motor1_dir == CW){
+                motor1_dir = CCW;
                 }
-        else if(button_toggle1 == 1 && motor1_dir == 0){
-                motor1_dir = 1;
+        else if(button_toggle1 == 1 && motor1_dir == CCW){
+                motor1_dir = CW;
                 }       
        
-       if(button1.read()==false){
-              while(n1 == 1){
-                  speed1.write(cycle);
-                  direction1.write(1);//turn motor CCW or CW 
+       if(button1.read() !=motor1_on){//check if button 1 is pressed
                   led3.write(1);
                   led1.write(0);
+              while(n1 == 1){
+                  speed1.write(cycle);//write speed only on first run through the loop
+                  direction1.write(motor1_dir);//turn motor CCW or CW 
+                  
                   n1=0;
                   }
                           }
-            else if (button1.read() == true){
-                while(n1==0){
-                    speed1.write(0);
+            else if (button1.read() == motor1_on){//when button is released
+                while(n1==0){//check if the first run was done
+                    speed1.write(0);//if so set speed to 0 and reset the run counter
                     n1=1;
                     }
                 }
@@ -65,29 +66,30 @@
        wait(0.2);//from this we can determine if the rotation direction needs to be reversed.
        int diffb2 = button2.read();
        int button_toggle2 = diffa2-diffb2;
-       if(button_toggle2 == 1 && motor2_dir == 1){
-                motor2_dir = 0;
+       if(button_toggle2 == 1 && motor2_dir == CW){
+                motor2_dir = CCW;
                 }
-        else if(button_toggle2 == 1 && motor2_dir == 0){
-                motor2_dir = 1;
+        else if(button_toggle2 == 1 && motor2_dir == CCW){
+                motor2_dir = CW;
                 }
     
    //motor CW = 0
    //motor CCW = 1
-       if(button1.read()==false){
-              while(n2 == 1){
-                  speed2.write(cycle);
-                  direction2.write(1);//turn motor CCW or CW 
+       if(button2.read()!=motor2_on){//check if button 2 is pressed
                   led3.write(1);
                   led2.write(0);
+              while(n2 == 1){
+                  speed2.write(cycle);//write speed only on first run through the loop
+                  direction2.write(1);//turn motor CCW or CW 
+                  
                   n2=0;
                   }
                           }
-            else if (button1.read() == true){
-                while(n2==0){
-                    speed1.write(0);
+            else if (button2.read() == motor2_on){//when button is released
+                while(n2==0){//check if the first run was done
+                    speed2.write(0);//if so set speed to 0 and reset the run counter
                     n2=1;
                     }
-                }                   
+                }                
 }
 }
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