Revision 14:41d069cf4701, committed 2015-10-23

Comitter:

Technical_Muffin

Date:

Fri Oct 23 09:55:14 2015 +0000

Parent:

13:6cea4a9fcf7a

Commit message:

Motor movement code with better toggle function, not yet tested. And doesn't contain emg signal part yet

Changed in this revision

--- a/main.cpp	Fri Oct 23 09:40:45 2015 +0000
+++ b/main.cpp	Fri Oct 23 09:55:14 2015 +0000
@@ -10,30 +10,43 @@
 DigitalOut direction2(D4);//direction input for motor 2
 PwmOut speed1(D6);//speed input for motor 1
 PwmOut speed2(D5);//speed input for motor 2
-DigitalIn button1(PTC6);//test button for starting motor 1
-DigitalIn button2(PTA4);//test button for starting motor 2
+InterruptIn button1(PTC6);//test button for starting motor 1 using intteruptin function
+InterruptIn button2(PTA4);//test button for starting motor 2 using interruptin function
 DigitalOut led1(LED_RED);
 DigitalOut led2(LED_BLUE);
 DigitalOut led3(LED_GREEN);
+bool motor1_dir=0;//set the direction of motor 1
+bool motor2_dir = 0;//set the direction of motor 1
+
+void changedirmotor1(){
+        motor1_dir = !motor1_dir;//code for changing direction of motor 1
+        }
+void changedirmotor2(){
+        motor2_dir = !motor2_dir;//code for changing direction of motor 2
+        }        
+
 
 int main()
 {
    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;//numeric condtions to determine if the speed needs to be increased
    int n2=1;
    bool CW =1;
    bool CCW = 0;
-   
+   button1.mode(PullDown);//setting the modes for the way the button signals are registered
+   button2.mode(PullDown);
+
 while(1){
        led3.write(0);
        led1.write(1);
        led2.write(1);
        pc.baud(115200);
        
+       button1.fall(changedirmotor1);//replacement code for toggle function,  thus changing direction when pressed
+       /*
         int diffa1 = -button1.read();//read out the button 1 signal and calculate if it is being pressed or released interrupt function might work better as toggle
         wait(0.3);//from this we can determine if the rotation direction needs to be reversed.
         int diffb1 = button1.read();
@@ -44,7 +57,7 @@
         else if(button_toggle1 == 1 && motor1_dir == CCW){
                 motor1_dir = CW;
                 }       
-       
+       */
        if(button1.read() !=motor1_on){//check if button 1 is pressed
                   led3.write(1);
                   led1.write(0);
@@ -61,7 +74,9 @@
                     n1=1;
                     }
                 }
-       
+                button2.fall(changedirmotor2);//replacement code for toggle function,  thus changing direction when pressed
+ 
+       /*
        int diffa2 = button2.read();//read out the button 2 signal and calculate if it is being pressed or released
        wait(0.3);//from this we can determine if the rotation direction needs to be reversed.
        int diffb2 = button2.read();
@@ -72,9 +87,8 @@
         else if(button_toggle2 == 1 && motor2_dir == CCW){
                 motor2_dir = CW;
                 }
-    
-   //motor CW = 0
-   //motor CCW = 1
+    */
+   
        if(button2.read()!=motor2_on){//check if button 2 is pressed
                   led3.write(1);
                   led2.write(0);