Diff: main.cpp

Revision:

6:1faceb53dabe

Parent:

5:1ab9b2527794

Child:

8:98a83981c238

--- a/main.cpp	Fri Aug 21 22:13:19 2020 +0000
+++ b/main.cpp	Mon Aug 24 20:19:13 2020 +0000
@@ -3,6 +3,7 @@
 #include "EthernetInterface.h"
 #include "ExperimentServer.h"
 #include "QEI.h"
+#include "MotorShield.h" 
 
 #define NUM_INPUTS 2
 #define NUM_OUTPUTS 3
@@ -16,10 +17,23 @@
 QEI encoderC(PC_6, PC_7, NC, 1200, QEI::X4_ENCODING);  // MOTOR C ENCODER (no index, 1200 counts/rev, Quadrature encoding)
 QEI encoderD(PD_12, PD_13, NC, 1200, QEI::X4_ENCODING);// MOTOR D ENCODER (no index, 1200 counts/rev, Quadrature encoding)
 
+AnalogIn currentA(PF_12); //MOTOR A CURRENT SENSOR 
+AnalogIn currentB(PF_11); //MOTOR B CURRENT SENSOR 
+AnalogIn currentC(PF_13); //MOTOR C CURRENT SENSOR 
+AnalogIn currentD(PA_4);  //MOTOR D CURRENT SENSOR 
+
+MotorShield motorA(PE_5, PE_6);   //MOTOR A PWM 
+MotorShield motorB(PB_14, PB_15); //MOTOR B PWM 
+MotorShield motorC(PA_6, PF_9);   //MOTOR C PWM 
+MotorShield motorD(PF_6, PF_7);   //MOTOR D PWM
+
+//deprecate the following 
 PwmOut motorPWM(D5);        // Motor PWM output
 DigitalOut motorFwd(D6);    // Motor forward enable
 DigitalOut motorRev(D7);    // Motor backward enable
 
+
+
 int main (void)
 {
     // Link the terminal with our server and start it up
@@ -72,4 +86,5 @@
             motorPWM.write(0);
         } // end if
     } // end while
-} // end main
\ No newline at end of file
+} // end main
+