Diff: main.cpp

Revision:

15:49f750d895d7

Parent:

14:4342436f9f4f

--- a/main.cpp	Mon Sep 23 07:54:49 2019 +0000
+++ b/main.cpp	Mon Sep 23 08:27:53 2019 +0000
@@ -1,8 +1,8 @@
 #include "mbed.h"
-#include "MODSERIAL.h";
-#include "FastPWM.h" ;
-#include "QEI.h" ;
-#include "Motor.h" ;
+#include "MODSERIAL.h"
+#include "FastPWM.h" 
+#include "QEI.h" 
+//#include "Motor.h" 
 
 Serial pc(USBTX,USBRX);
 
@@ -11,15 +11,16 @@
 
 FastPWM motor(D5);
 FastPWM led(PTA1);
+DigitalOut direction(D4);
 
 int pulses = 131;
 QEI wheel (D13,D12,NC,pulses);
 
-int pin = 1;
+int richting;
 
 void flip()
 {
-    pin=!pin;
+    richting=!richting;
 }
 
 
@@ -29,19 +30,25 @@
     button.rise(&flip);
     while(true)
         {
-            if (pin == 1)
+            if (richting == 1)
                 {
+                wait(0.05);
                 printf("now forward");
                 led.write(pot);
                 motor.write(pot);
+                wait(0.05);
+                direction.write(richting);
                 //printf("motor speeed is (%f)\n\r",pot.read());
                 //printf("pulse number is (%i)\n\r",wheel.getPulses());
                 }
             else
                 {
+                wait(0.05);
                 printf("now reversing");
                 led.write(1-pot);
                 motor.write(pot);
+                wait(0.05);
+                direction.write(richting);
                 //printf("motor speeed is (%f)\n\r",pot.read());
                 //printf("pulse number is (%i)\n\r",wheel.getPulses());
                 }