Diff: main.cpp

Revision:

8:98a83981c238

Parent:

6:1faceb53dabe

Child:

9:97360c92666f

--- a/main.cpp	Mon Aug 24 20:20:50 2020 +0000
+++ b/main.cpp	Tue Aug 25 23:38:34 2020 +0000
@@ -4,6 +4,7 @@
 #include "ExperimentServer.h"
 #include "QEI.h"
 #include "MotorShield.h" 
+#include "HardwareSetup.h"
 
 #define NUM_INPUTS 2
 #define NUM_OUTPUTS 3
@@ -22,20 +23,22 @@
 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
-
-
+//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
 
 int main (void)
 {
+    initHardware();   // Setup PWM
+    wait_us(100);
+    
+    TIM12->CCR2 = 100;
+    TIM12->CCR1 = 200;
+    
+    while(1){
+    }
+    /*
     // Link the terminal with our server and start it up
     server.attachTerminal(pc);
     server.init();
@@ -86,5 +89,6 @@
             motorPWM.write(0);
         } // end if
     } // end while
+    */
 } // end main