Asa Ewing / WheelManager

2018-12-21 3

Dependents:   mbed-os-rest-api-V1-2 mbed-os-rest-api-V1-2-2

WheelManager.cpp@0:61923a9dd110, 2018-12-21 (annotated)

Committer:
asaewing
Date:
Fri Dec 21 07:54:10 2018 +0000
Revision:
0:61923a9dd110
Child:
1:b794ac1a3aa6
First 2018-12-21

Who changed what in which revision?

UserRevisionLine numberNew contents of line
asaewing 0:61923a9dd110 1 #include "module_for_all.h"
asaewing 0:61923a9dd110 2
asaewing 0:61923a9dd110 3 /*DigitalOut _W1_A(PC_6);
asaewing 0:61923a9dd110 4 DigitalOut _W1_B(PD_8);
asaewing 0:61923a9dd110 5
asaewing 0:61923a9dd110 6 DigitalOut _W2_A(PA_12);
asaewing 0:61923a9dd110 7 DigitalOut _W2_B(PA_11);
asaewing 0:61923a9dd110 8
asaewing 0:61923a9dd110 9 DigitalOut _W3_A(PB_12);
asaewing 0:61923a9dd110 10 DigitalOut _W3_B(PB_11);
asaewing 0:61923a9dd110 11
asaewing 0:61923a9dd110 12 DigitalOut _W4_A(PB_2);
asaewing 0:61923a9dd110 13 DigitalOut _W4_B(PB_15);*/
asaewing 0:61923a9dd110 14
asaewing 0:61923a9dd110 15
asaewing 0:61923a9dd110 16 WheelManager::WheelManager() {
asaewing 0:61923a9dd110 17 DataStorage::_W1_A = 0;
asaewing 0:61923a9dd110 18 DataStorage::_W1_B = 0;
asaewing 0:61923a9dd110 19
asaewing 0:61923a9dd110 20 DataStorage::_W2_A = 0;
asaewing 0:61923a9dd110 21 DataStorage::_W2_B = 0;
asaewing 0:61923a9dd110 22
asaewing 0:61923a9dd110 23 DataStorage::_W3_A = 0;
asaewing 0:61923a9dd110 24 DataStorage::_W3_B = 0;
asaewing 0:61923a9dd110 25
asaewing 0:61923a9dd110 26 DataStorage::_W4_A = 0;
asaewing 0:61923a9dd110 27 DataStorage::_W4_B = 0;
asaewing 0:61923a9dd110 28 }
asaewing 0:61923a9dd110 29
asaewing 0:61923a9dd110 30 WheelManager::WheelManager(std::string tmpTest) {
asaewing 0:61923a9dd110 31 DataStorage::_W1_A = 0;
asaewing 0:61923a9dd110 32 DataStorage::_W1_B = 0;
asaewing 0:61923a9dd110 33
asaewing 0:61923a9dd110 34 DataStorage::_W2_A = 0;
asaewing 0:61923a9dd110 35 DataStorage::_W2_B = 0;
asaewing 0:61923a9dd110 36
asaewing 0:61923a9dd110 37 DataStorage::_W3_A = 0;
asaewing 0:61923a9dd110 38 DataStorage::_W3_B = 0;
asaewing 0:61923a9dd110 39
asaewing 0:61923a9dd110 40 DataStorage::_W4_A = 0;
asaewing 0:61923a9dd110 41 DataStorage::_W4_B = 0;
asaewing 0:61923a9dd110 42 }
asaewing 0:61923a9dd110 43
asaewing 0:61923a9dd110 44 void WheelManager::moveDirectionControl(int tmpMoveDirection) {
asaewing 0:61923a9dd110 45 _moveDirection = tmpMoveDirection;
asaewing 0:61923a9dd110 46
asaewing 0:61923a9dd110 47 //W1 W4//
asaewing 0:61923a9dd110 48 if (tmpMoveDirection>=5 && tmpMoveDirection<=9 || tmpMoveDirection==3 || tmpMoveDirection==12){
asaewing 0:61923a9dd110 49 DataStorage::_W1_A = 0;
asaewing 0:61923a9dd110 50 DataStorage::_W1_B = 1;
asaewing 0:61923a9dd110 51
asaewing 0:61923a9dd110 52 DataStorage::_W4_A = 1;
asaewing 0:61923a9dd110 53 DataStorage::_W4_B = 0;
asaewing 0:61923a9dd110 54 } else if (tmpMoveDirection>=13 && tmpMoveDirection<=15 || tmpMoveDirection==0 || tmpMoveDirection==1 || tmpMoveDirection==4 || tmpMoveDirection==11){
asaewing 0:61923a9dd110 55 DataStorage::_W1_A = 1;
asaewing 0:61923a9dd110 56 DataStorage::_W1_B = 0;
asaewing 0:61923a9dd110 57
asaewing 0:61923a9dd110 58 DataStorage::_W4_A = 0;
asaewing 0:61923a9dd110 59 DataStorage::_W4_B = 1;
asaewing 0:61923a9dd110 60 } else if (tmpMoveDirection==2 || tmpMoveDirection==10){
asaewing 0:61923a9dd110 61 DataStorage::_W1_A = 0;
asaewing 0:61923a9dd110 62 DataStorage::_W1_B = 0;
asaewing 0:61923a9dd110 63
asaewing 0:61923a9dd110 64 DataStorage::_W4_A = 0;
asaewing 0:61923a9dd110 65 DataStorage::_W4_B = 0;
asaewing 0:61923a9dd110 66 }
asaewing 0:61923a9dd110 67
asaewing 0:61923a9dd110 68 //W2 W3//
asaewing 0:61923a9dd110 69 if (tmpMoveDirection>=0 && tmpMoveDirection<=3 || tmpMoveDirection==5 || tmpMoveDirection==12 || tmpMoveDirection==15){
asaewing 0:61923a9dd110 70 DataStorage::_W2_A = 0;
asaewing 0:61923a9dd110 71 DataStorage::_W2_B = 1;
asaewing 0:61923a9dd110 72
asaewing 0:61923a9dd110 73 DataStorage::_W3_A = 1;
asaewing 0:61923a9dd110 74 DataStorage::_W3_B = 0;
asaewing 0:61923a9dd110 75 } else if (tmpMoveDirection>=7 && tmpMoveDirection<=11 || tmpMoveDirection==4 || tmpMoveDirection==13){
asaewing 0:61923a9dd110 76 DataStorage::_W2_A = 1;
asaewing 0:61923a9dd110 77 DataStorage::_W2_B = 0;
asaewing 0:61923a9dd110 78
asaewing 0:61923a9dd110 79 DataStorage::_W3_A = 0;
asaewing 0:61923a9dd110 80 DataStorage::_W3_B = 1;
asaewing 0:61923a9dd110 81 } else if (tmpMoveDirection==6 || tmpMoveDirection==14){
asaewing 0:61923a9dd110 82 DataStorage::_W2_A = 0;
asaewing 0:61923a9dd110 83 DataStorage::_W2_B = 0;
asaewing 0:61923a9dd110 84
asaewing 0:61923a9dd110 85 DataStorage::_W3_A = 0;
asaewing 0:61923a9dd110 86 DataStorage::_W3_B = 0;
asaewing 0:61923a9dd110 87 }
asaewing 0:61923a9dd110 88
asaewing 0:61923a9dd110 89 //W1 W2 W3 W4//
asaewing 0:61923a9dd110 90 if (tmpMoveDirection==16){
asaewing 0:61923a9dd110 91 DataStorage::_W1_A = 1;
asaewing 0:61923a9dd110 92 DataStorage::_W1_B = 0;
asaewing 0:61923a9dd110 93
asaewing 0:61923a9dd110 94 DataStorage::_W2_A = 1;
asaewing 0:61923a9dd110 95 DataStorage::_W2_B = 0;
asaewing 0:61923a9dd110 96
asaewing 0:61923a9dd110 97 DataStorage::_W3_A = 1;
asaewing 0:61923a9dd110 98 DataStorage::_W3_B = 0;
asaewing 0:61923a9dd110 99
asaewing 0:61923a9dd110 100 DataStorage::_W4_A = 1;
asaewing 0:61923a9dd110 101 DataStorage::_W4_B = 0;
asaewing 0:61923a9dd110 102 } else if (tmpMoveDirection==17){
asaewing 0:61923a9dd110 103 DataStorage::_W1_A = 0;
asaewing 0:61923a9dd110 104 DataStorage::_W1_B = 1;
asaewing 0:61923a9dd110 105
asaewing 0:61923a9dd110 106 DataStorage::_W2_A = 0;
asaewing 0:61923a9dd110 107 DataStorage::_W2_B = 1;
asaewing 0:61923a9dd110 108
asaewing 0:61923a9dd110 109 DataStorage::_W3_A = 0;
asaewing 0:61923a9dd110 110 DataStorage::_W3_B = 1;
asaewing 0:61923a9dd110 111
asaewing 0:61923a9dd110 112 DataStorage::_W4_A = 0;
asaewing 0:61923a9dd110 113 DataStorage::_W4_B = 1;
asaewing 0:61923a9dd110 114 } else if (tmpMoveDirection==40){
asaewing 0:61923a9dd110 115 DataStorage::_W1_A = 0;
asaewing 0:61923a9dd110 116 DataStorage::_W1_B = 0;
asaewing 0:61923a9dd110 117
asaewing 0:61923a9dd110 118 DataStorage::_W2_A = 0;
asaewing 0:61923a9dd110 119 DataStorage::_W2_B = 0;
asaewing 0:61923a9dd110 120
asaewing 0:61923a9dd110 121 DataStorage::_W3_A = 0;
asaewing 0:61923a9dd110 122 DataStorage::_W3_B = 0;
asaewing 0:61923a9dd110 123
asaewing 0:61923a9dd110 124 DataStorage::_W4_A = 0;
asaewing 0:61923a9dd110 125 DataStorage::_W4_B = 0;
asaewing 0:61923a9dd110 126 }
asaewing 0:61923a9dd110 127 }
asaewing 0:61923a9dd110 128
asaewing 0:61923a9dd110 129 void WM_pwmControl(DataStorage* tmpDS) {
asaewing 0:61923a9dd110 130 printf("### WM pwmControl - Start\r\n");
asaewing 0:61923a9dd110 131
asaewing 0:61923a9dd110 132 /*PwmOut _W1_P(PD_14);
asaewing 0:61923a9dd110 133 PwmOut _W2_P(PD_15);
asaewing 0:61923a9dd110 134 PwmOut _W3_P(PE_12);
asaewing 0:61923a9dd110 135 PwmOut _W4_P(PE_14);*/
asaewing 0:61923a9dd110 136
asaewing 0:61923a9dd110 137 //printf("### WM_pwmControl - 01\r\n");
asaewing 0:61923a9dd110 138 //printf("### WM_pwmControl - 01 - 01\r\n");
asaewing 0:61923a9dd110 139 //float tmpPeriod2 = (float)tmp[1]/1000000.0f;
asaewing 0:61923a9dd110 140 //float tmpCycle2 = (float)tmp[2]/100.0f;
asaewing 0:61923a9dd110 141
asaewing 0:61923a9dd110 142 /*printf("### WM_pwmControl - 01 - 01 - %d\r\n", (*tmpDS).get_testInt1());
asaewing 0:61923a9dd110 143 printf("### WM_pwmControl - 01 - 02 - %d\r\n", (*tmpDS).testInt2);
asaewing 0:61923a9dd110 144 printf("### WM_pwmControl - 01 - 03 - %d\r\n", (*tmpDS).testInt3);
asaewing 0:61923a9dd110 145 printf("### WM_pwmControl - 01 - 04 - %d\r\n", (*tmpDS).WM_PWM[1][0]);
asaewing 0:61923a9dd110 146 printf("### WM_pwmControl - 01 - 05 - %d\r\n", (*tmpDS).WM_PWM[1][1]);*/
asaewing 0:61923a9dd110 147
asaewing 0:61923a9dd110 148 float *tmpPeriod2 = new float[4];
asaewing 0:61923a9dd110 149 float *tmpWrite2 = new float[4];
asaewing 0:61923a9dd110 150 //{(float)(*tmpDS).WM_PWM[1][0]/1000000.0f, 0.0f, 0.0f, 0.0f};
asaewing 0:61923a9dd110 151 tmpPeriod2[0] = (float)(*tmpDS).WM_PWM[1][0]/1000000.0f;
asaewing 0:61923a9dd110 152 tmpPeriod2[1] = (float)(*tmpDS).WM_PWM[2][0]/1000000.0f;
asaewing 0:61923a9dd110 153 tmpPeriod2[2] = (float)(*tmpDS).WM_PWM[3][0]/1000000.0f;
asaewing 0:61923a9dd110 154 tmpPeriod2[3] = (float)(*tmpDS).WM_PWM[4][0]/1000000.0f;
asaewing 0:61923a9dd110 155 //float tmpCycle2 = (float)(*tmpDS).WM_PWM[1][1]/100.0f;
asaewing 0:61923a9dd110 156 //float tmpCycle3 = tmpCycle2+0.2f;
asaewing 0:61923a9dd110 157
asaewing 0:61923a9dd110 158 //tmpPeriod2[1] = (float)(*tmpDS).WM_PWM[1][1]/100.0f;
asaewing 0:61923a9dd110 159 //tmpPeriod2[2] = tmpPeriod2[1]+0.2f;
asaewing 0:61923a9dd110 160
asaewing 0:61923a9dd110 161 tmpWrite2[0] = (float)(*tmpDS).WM_PWM[1][1]/100.0f;
asaewing 0:61923a9dd110 162 tmpWrite2[1] = (float)(*tmpDS).WM_PWM[2][1]/100.0f;
asaewing 0:61923a9dd110 163 tmpWrite2[2] = (float)(*tmpDS).WM_PWM[3][1]/100.0f;
asaewing 0:61923a9dd110 164 tmpWrite2[3] = (float)(*tmpDS).WM_PWM[4][1]/100.0f;
asaewing 0:61923a9dd110 165
asaewing 0:61923a9dd110 166 //if (tmpCycle3>1.0f) tmpCycle3=1.0f;
asaewing 0:61923a9dd110 167 //if (tmpPeriod2[2]>1.0f) tmpPeriod2[2]=1.0f;
asaewing 0:61923a9dd110 168
asaewing 0:61923a9dd110 169 //printf("### WM_pwmControl - 01 - %f\r\n", tmpCycle3);
asaewing 0:61923a9dd110 170 printf("### WM pwmControl - 01 tmpPeriod2- %f; %f; %f; %f;\r\n", tmpPeriod2[0], tmpPeriod2[1], tmpPeriod2[2], tmpPeriod2[3]);
asaewing 0:61923a9dd110 171 printf("### WM pwmControl - 02 tmpWrite2 - %f; %f; %f; %f;\r\n", tmpWrite2[0], tmpWrite2[1], tmpWrite2[2], tmpWrite2[3]);
asaewing 0:61923a9dd110 172
asaewing 0:61923a9dd110 173 //printf("### WM_pwmControl - 02\r\n");
asaewing 0:61923a9dd110 174
asaewing 0:61923a9dd110 175 //PwmOut testPWM(PD_14);
asaewing 0:61923a9dd110 176 //printf("### WM_pwmControl - 03\r\n");
asaewing 0:61923a9dd110 177
asaewing 0:61923a9dd110 178 //testPWM.period(tmpPeriod2);
asaewing 0:61923a9dd110 179 //(*tmpPWM).period(tmpPeriod2);
asaewing 0:61923a9dd110 180
asaewing 0:61923a9dd110 181 //(tmpDS->_WM_PWM_out01).period(tmpPeriod2[0]);
asaewing 0:61923a9dd110 182 (tmpDS->_WM_PWM_out01).period(tmpPeriod2[0]);
asaewing 0:61923a9dd110 183 (tmpDS->_WM_PWM_out02).period(tmpPeriod2[1]);
asaewing 0:61923a9dd110 184 (tmpDS->_WM_PWM_out03).period(tmpPeriod2[2]);
asaewing 0:61923a9dd110 185 (tmpDS->_WM_PWM_out04).period(tmpPeriod2[3]);
asaewing 0:61923a9dd110 186
asaewing 0:61923a9dd110 187 //(*(*tmpDS).WM_PWM_out[0]).period(tmpPeriod2);
asaewing 0:61923a9dd110 188 //printf("### WM_pwmControl - 04\r\n");
asaewing 0:61923a9dd110 189
asaewing 0:61923a9dd110 190 //testPWM.write(tmpCycle2);
asaewing 0:61923a9dd110 191 //(*tmpPWM).write(tmpCycle2);
asaewing 0:61923a9dd110 192
asaewing 0:61923a9dd110 193 //(tmpDS->_WM_PWM_out01).write(tmpCycle2);
asaewing 0:61923a9dd110 194 //(tmpDS->_WM_PWM_out02).write(tmpCycle3);
asaewing 0:61923a9dd110 195
asaewing 0:61923a9dd110 196 //(tmpDS->_WM_PWM_out01).write(tmpPeriod2[1]);
asaewing 0:61923a9dd110 197 //(tmpDS->_WM_PWM_out02).write(tmpPeriod2[2]);
asaewing 0:61923a9dd110 198 (tmpDS->_WM_PWM_out01).write(tmpWrite2[0]);
asaewing 0:61923a9dd110 199 (tmpDS->_WM_PWM_out02).write(tmpWrite2[1]);
asaewing 0:61923a9dd110 200 (tmpDS->_WM_PWM_out03).write(tmpWrite2[2]);
asaewing 0:61923a9dd110 201 (tmpDS->_WM_PWM_out04).write(tmpWrite2[3]);
asaewing 0:61923a9dd110 202
asaewing 0:61923a9dd110 203 //(*(*tmpDS).WM_PWM_out[0]).write(tmpCycle2);
asaewing 0:61923a9dd110 204 //printf("### WM_pwmControl - 05\r\n");
asaewing 0:61923a9dd110 205 /*if (tmp[0]==1){
asaewing 0:61923a9dd110 206 PwmOut _W_P(PD_14);
asaewing 0:61923a9dd110 207 _W_P.period(tmpPeriod2);
asaewing 0:61923a9dd110 208 _W_P.write(tmpCycle2);
asaewing 0:61923a9dd110 209
asaewing 0:61923a9dd110 210 } else if (tmp[0]==2){
asaewing 0:61923a9dd110 211 PwmOut _W_P(PD_15);
asaewing 0:61923a9dd110 212 _W_P.period(tmpPeriod2);
asaewing 0:61923a9dd110 213 _W_P.write(tmpCycle2);
asaewing 0:61923a9dd110 214
asaewing 0:61923a9dd110 215 } else if (tmp[0]==3){
asaewing 0:61923a9dd110 216 PwmOut _W_P(PE_12);
asaewing 0:61923a9dd110 217 _W_P.period(tmpPeriod2);
asaewing 0:61923a9dd110 218 _W_P.write(tmpCycle2);
asaewing 0:61923a9dd110 219
asaewing 0:61923a9dd110 220 } else if (tmp[0]==4){
asaewing 0:61923a9dd110 221 PwmOut _W_P(PE_14);
asaewing 0:61923a9dd110 222 _W_P.period(tmpPeriod2);
asaewing 0:61923a9dd110 223 _W_P.write(tmpCycle2);
asaewing 0:61923a9dd110 224 }*/
asaewing 0:61923a9dd110 225
asaewing 0:61923a9dd110 226 delete [] tmpPeriod2;
asaewing 0:61923a9dd110 227 delete [] tmpWrite2;
asaewing 0:61923a9dd110 228 //delete tmpCycle2;
asaewing 0:61923a9dd110 229 //delete tmpCycle3;
asaewing 0:61923a9dd110 230
asaewing 0:61923a9dd110 231 printf("### WM pwmControl - End\r\n");
asaewing 0:61923a9dd110 232 }
asaewing 0:61923a9dd110 233
asaewing 0:61923a9dd110 234 /*void WheelManager::runControl(int tmpMoveDirection, int tmpPeriod, int tmpCycle) {
asaewing 0:61923a9dd110 235 moveDirectionControl(tmpMoveDirection);
asaewing 0:61923a9dd110 236 //pwmControl(1, tmpPeriod, tmpCycle);
asaewing 0:61923a9dd110 237 threadWM.start(callback(test, tmpMoveDirection));
asaewing 0:61923a9dd110 238 wait(1);
asaewing 0:61923a9dd110 239 }*/
asaewing 0:61923a9dd110 240
asaewing 0:61923a9dd110 241 void WheelManager::runControl(DataStorage* tmpDS, int** tmp) {
asaewing 0:61923a9dd110 242 printf("### WM runControl - Start\r\n");
asaewing 0:61923a9dd110 243
asaewing 0:61923a9dd110 244 /*PwmOut _W1_P(PD_14);
asaewing 0:61923a9dd110 245 PwmOut _W2_P(PD_15);
asaewing 0:61923a9dd110 246 PwmOut _W3_P(PE_12);
asaewing 0:61923a9dd110 247 PwmOut _W4_P(PE_14);*/
asaewing 0:61923a9dd110 248
asaewing 0:61923a9dd110 249 //PwmOut* _W_P[4] = {&_W1_P, &_W2_P, &_W3_P, &_W4_P};
asaewing 0:61923a9dd110 250
asaewing 0:61923a9dd110 251 for (int ii=0;ii<5;ii++){
asaewing 0:61923a9dd110 252 for (int jj=0;jj<2;jj++){
asaewing 0:61923a9dd110 253 DataStorage::WM_PWM[ii][jj] = tmp[ii][jj];
asaewing 0:61923a9dd110 254 }
asaewing 0:61923a9dd110 255 }
asaewing 0:61923a9dd110 256
asaewing 0:61923a9dd110 257
asaewing 0:61923a9dd110 258
asaewing 0:61923a9dd110 259 //printf("### runControl - 01 - 01 - %d\r\n", DataStorage::testInt1);
asaewing 0:61923a9dd110 260 //printf("### runControl - 01 - 02 - %d\r\n", DataStorage::testInt2);
asaewing 0:61923a9dd110 261 //printf("### runControl - 01 - 03 - %d\r\n", DataStorage::testInt3);
asaewing 0:61923a9dd110 262 //printf("### runControl - 01 - 01\r\n");
asaewing 0:61923a9dd110 263
asaewing 0:61923a9dd110 264 this->moveDirectionControl(tmp[0][0]);
asaewing 0:61923a9dd110 265
asaewing 0:61923a9dd110 266 //pwmControl(tmp[0], tmp[1], tmp[2]);
asaewing 0:61923a9dd110 267 //printf("### runControl - 01 - 02\r\n");
asaewing 0:61923a9dd110 268
asaewing 0:61923a9dd110 269 //PwmOut testPWM(PD_14);
asaewing 0:61923a9dd110 270 //printf("### runControl - 02\r\n");
asaewing 0:61923a9dd110 271 //(*tmpThread).terminate();
asaewing 0:61923a9dd110 272
asaewing 0:61923a9dd110 273 //printf("### runControl - 03\r\n");
asaewing 0:61923a9dd110 274 //(*tmpThread).start(callback(WM_pwmControl, tmpDS));
asaewing 0:61923a9dd110 275 WM_pwmControl(tmpDS);
asaewing 0:61923a9dd110 276
asaewing 0:61923a9dd110 277 this->moveDirectionControl(tmp[0][0]);
asaewing 0:61923a9dd110 278
asaewing 0:61923a9dd110 279 //printf("### runControl - 04\r\n");
asaewing 0:61923a9dd110 280 //wait(1);
asaewing 0:61923a9dd110 281
asaewing 0:61923a9dd110 282 //printf("### runControl - 05\r\n");
asaewing 0:61923a9dd110 283 //(*tmpThread).join();
asaewing 0:61923a9dd110 284
asaewing 0:61923a9dd110 285 printf("### WM runControl - End\r\n");
asaewing 0:61923a9dd110 286 }
asaewing 0:61923a9dd110 287
asaewing 0:61923a9dd110 288 void WheelManager::runControl2(DataStorage* tmpDS, int** tmp) {
asaewing 0:61923a9dd110 289 printf("### WM runControl2 - Start\r\n");
asaewing 0:61923a9dd110 290
asaewing 0:61923a9dd110 291 /*PwmOut _W1_P(PD_14);
asaewing 0:61923a9dd110 292 PwmOut _W2_P(PD_15);
asaewing 0:61923a9dd110 293 PwmOut _W3_P(PE_12);
asaewing 0:61923a9dd110 294 PwmOut _W4_P(PE_14);*/
asaewing 0:61923a9dd110 295
asaewing 0:61923a9dd110 296 //PwmOut* _W_P[4] = {&_W1_P, &_W2_P, &_W3_P, &_W4_P};
asaewing 0:61923a9dd110 297
asaewing 0:61923a9dd110 298 for (int ii=0;ii<5;ii++){
asaewing 0:61923a9dd110 299 for (int jj=0;jj<2;jj++){
asaewing 0:61923a9dd110 300 DataStorage::WM_PWM[ii][jj] = tmp[ii][jj];
asaewing 0:61923a9dd110 301 }
asaewing 0:61923a9dd110 302 }
asaewing 0:61923a9dd110 303
asaewing 0:61923a9dd110 304 //printf("### runControl - 01 - 01 - %d\r\n", DataStorage::testInt1);
asaewing 0:61923a9dd110 305 //printf("### runControl - 01 - 02 - %d\r\n", DataStorage::testInt2);
asaewing 0:61923a9dd110 306 //printf("### runControl - 01 - 03 - %d\r\n", DataStorage::testInt3);
asaewing 0:61923a9dd110 307 //printf("### runControl - 01 - 01\r\n");
asaewing 0:61923a9dd110 308
asaewing 0:61923a9dd110 309 this->moveDirectionControl(tmp[0][0]);
asaewing 0:61923a9dd110 310
asaewing 0:61923a9dd110 311 //pwmControl(tmp[0], tmp[1], tmp[2]);
asaewing 0:61923a9dd110 312 //printf("### runControl - 01 - 02\r\n");
asaewing 0:61923a9dd110 313
asaewing 0:61923a9dd110 314 //PwmOut testPWM(PD_14);
asaewing 0:61923a9dd110 315 //printf("### runControl - 02\r\n");
asaewing 0:61923a9dd110 316 //(*tmpThread).terminate();
asaewing 0:61923a9dd110 317
asaewing 0:61923a9dd110 318 //printf("### runControl - 03\r\n");
asaewing 0:61923a9dd110 319 //(*tmpThread).start(callback(WM_pwmControl, tmpDS));
asaewing 0:61923a9dd110 320 WM_pwmControl(tmpDS);
asaewing 0:61923a9dd110 321
asaewing 0:61923a9dd110 322 this->moveDirectionControl(tmp[0][0]);
asaewing 0:61923a9dd110 323
asaewing 0:61923a9dd110 324 //printf("### runControl - 04\r\n");
asaewing 0:61923a9dd110 325 //wait(1);
asaewing 0:61923a9dd110 326
asaewing 0:61923a9dd110 327 //printf("### runControl - 05\r\n");
asaewing 0:61923a9dd110 328 //(*tmpThread).join();
asaewing 0:61923a9dd110 329
asaewing 0:61923a9dd110 330 printf("### WM runControl2 - End\r\n");
asaewing 0:61923a9dd110 331 }
asaewing 0:61923a9dd110 332
asaewing 0:61923a9dd110 333 void WheelManager::runControlStop(DataStorage* tmpDS) {
asaewing 0:61923a9dd110 334 printf("### WM runControlStop - Start\r\n");
asaewing 0:61923a9dd110 335
asaewing 0:61923a9dd110 336 for (int ii=0;ii<5;ii++){
asaewing 0:61923a9dd110 337 DataStorage::WM_PWM[ii][0] = 1;
asaewing 0:61923a9dd110 338 DataStorage::WM_PWM[ii][1] = 0;
asaewing 0:61923a9dd110 339 }
asaewing 0:61923a9dd110 340
asaewing 0:61923a9dd110 341 this->moveDirectionControl(40);
asaewing 0:61923a9dd110 342
asaewing 0:61923a9dd110 343 WM_pwmControl(tmpDS);
asaewing 0:61923a9dd110 344
asaewing 0:61923a9dd110 345 this->moveDirectionControl(40);
asaewing 0:61923a9dd110 346
asaewing 0:61923a9dd110 347 printf("### WM runControlStop - End\r\n");
asaewing 0:61923a9dd110 348 }