Diff: main.cpp

Revision:

3:56cbed6caacc

Parent:

2:ffd0553701d3

Child:

4:f36406c9e42f

--- a/main.cpp	Wed Oct 17 10:12:06 2018 +0000
+++ b/main.cpp	Wed Oct 17 13:36:47 2018 +0000
@@ -7,35 +7,35 @@
 DigitalOut directionpin2(D8);
 MODSERIAL pc(USBTX, USBRX);
 
-volatile bool emg0;
-volatile bool emg1;
-volatile bool emg2;
-volatile bool y_direction;
+volatile bool emg0Bool = false;
+volatile bool emg1Bool = false;
+volatile bool emg2Bool = false;
+volatile bool y_direction = true;
 
 volatile double x_position = 0;
 volatile double y_position = 0;
 volatile double motor1_angle;
 volatile double motor2_angle;
-volatile double direction;
+volatile int direction;
 
 const float length = 0.300; //length in m (placeholder)
 const int C1 = 3; //motor 1 gear ratio (placeholder)
 const int C2 = 3; //motor 2 gear ratio
     
-void xDirection(double &motor1_angle, double &motor2_angle) {
-        //direction of the motion
-        if (emg0 && !emg1) {
-            directionpin1 = true;
-            directionpin2 = true;
-            direction = 1;
-        }
-        else if (!emg0 && emg1) {
-            directionpin1 = false;
-            directionpin2 = false;
-            direction = -1;
-        }
+void xDirection() {
+    //direction of the motion
+    if (emg0Bool && !emg1Bool) {
+        directionpin1 = true;
+        directionpin2 = true;
+        direction = 1;
+    }
+    else if (!emg0Bool && emg1Bool) {
+        directionpin1 = false;
+        directionpin2 = false;
+        direction = -1;
+    }
 
-    if (emg0 || emg1){
+    if (emg0Bool || emg1Bool){
         //calculating the motion
         x_position = x_position + direction;
         motor1_angle = pow(sin( x_position ), -1) / length;
@@ -44,8 +44,8 @@
     }
 }
 
-void yDirection (int &motor2_angle) {      
-    if (emg2) {
+void yDirection () {      
+    if (emg2Bool) {
         //direction of the motion
         if (y_direction) {
             directionpin2 = true;
@@ -65,8 +65,12 @@
 int main() {
     pc.printf(" ** program reset **\n\r");
     while (true) {
-        xDirection(motor1_angle, motor2_angle);
-        yDirection(motor2_angle);
+        if (button) {
+            y_direction = !y_direction;
+        }
+        
+        xDirection();
+        yDirection();
         
         pc.printf("motor1 angle: %i\n\r", motor1_angle);
         pc.printf("motor2 angle: %i\n\r\n", motor2_angle);