Diff: main.cpp

Revision:

10:a40d180c305c

Parent:

9:97360c92666f

Child:

11:4eb579687dda

--- a/main.cpp	Wed Aug 26 00:24:56 2020 +0000
+++ b/main.cpp	Wed Aug 26 02:44:03 2020 +0000
@@ -23,35 +23,14 @@
 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
+MotorShield motors(1000); //initialize the motor shield with a period of 1000 ticks or xxx kHZ
 
 int main (void)
 {
-    initHardware();   // Setup PWM
-    wait_us(100);
-    
-    TIM12->CCR2 = 100;
-    TIM12->CCR1 = 200;
-    TIM13->CCR1 = 200;
-    TIM14->CCR1 = 200;
-    TIM15->CCR1 = 200;
-    TIM15->CCR2 = 200;
-    TIM16->CCR1 = 200;
-    TIM17->CCR1 = 200; 
-    
-    while(1){
-    }
-    /*
     // Link the terminal with our server and start it up
     server.attachTerminal(pc);
     server.init();
 
-    // PWM period should nominally be a multiple of our control loop
-    motorPWM.period_us(500);
-
     // Continually get input from MATLAB and run experiments
     float input_params[NUM_INPUTS];
     pc.printf("%f",input_params[0]);
@@ -68,17 +47,16 @@
             encoderB.reset();
             encoderC.reset();
             encoderD.reset();
-            motorFwd = 1;
-            motorRev = 0;
-            motorPWM.write(0);
+
+            motors.motorAWrite(0, 0); //turn motor A off
 
             // Run experiment
             while( t.read() < 2 ) {
                 // Perform control loop logic
                 if (t.read() < 1)
-                    motorPWM.write(v1);
+                    motors.motorAWrite(v1, 0); //run motor A at "v1" duty cycle and in the forward direction 
                 else
-                    motorPWM.write(v2);
+                    motors.motorAWrite(v2, 0); //run motor A at "v2" duty cycle and in the forward direction 
 
                 // Form output to send to MATLAB
                 float output_data[NUM_OUTPUTS];
@@ -92,9 +70,9 @@
             }
             // Cleanup after experiment
             server.setExperimentComplete();
-            motorPWM.write(0);
+            motors.motorAWrite(0, 0); //turn motor A off
         } // end if
     } // end while
-    */
+    
 } // end main