Diff: main.cpp

Revision:

15:d9e50101a17e

Parent:

14:155e9a9147d4

Parent:

13:87ab3b008803

Child:

16:372c720015ab

--- a/main.cpp	Thu Mar 09 14:53:31 2017 +0000
+++ b/main.cpp	Thu Mar 09 14:56:06 2017 +0000
@@ -201,6 +201,55 @@
     }
 }
 
+<<<<<<< local
+=======
+//void edgeRiseA()
+//{
+//    pos++;
+//    if(pos>=468) {
+////        Direction=!Direction;
+//        pos=pos%468;
+////        testpin=!testpin;
+//    }
+//    if(qB) DIR = 0;
+//    else DIR = 1;
+////    clk=DIR;
+////CLOCKWISE:        A rises before B -> On A edge, B low -> DIR = 1
+////ANTICLOCKWISE:    B rises before A -> On A edge, B high-> DIR = 0
+//}
+
+void sing(float singFreq)
+{
+    motor = driveTable[1];
+    wait(1.0);
+    float singDelayus = 1000000/singFreq;
+    for(int count=0; count<singFreq; count++) {
+        motor = driveTable[2];
+        wait_us(singDelayus);
+        motor = driveTable[1];
+    }
+    singFreq = 15000;
+    singDelayus = 1000000/singFreq;
+    for(int count=0; count<singFreq; count++) {
+        motor = driveTable[2];
+        wait_us(singDelayus);
+        motor = driveTable[1];
+    }
+}
+
+//void edgeIncr()
+//{
+//    pos++;
+//    if(pos>=468) {
+////        Direction=!Direction;
+//        pos=pos%468;
+////        testpin=!testpin;
+//    }
+//}
+
+//#define WAIT 2
+//Main function
+>>>>>>> other
 int main()
 {
     pc.printf("spin\n\r");
@@ -222,6 +271,14 @@
     speedTimer.start();
     I2.mode(PullNone);
     I2.fall(&rps);
+<<<<<<< local
+=======
+
+//    qA.rise(&edgeRiseA);
+//    qB.rise(&edgeIncr);
+//    qA.fall(&edgeIncr);
+//    qB.fall(&edgeIncr);
+>>>>>>> other
 
     VPIDthread.start(VPID);
 
@@ -410,6 +467,9 @@
                     controller.setTunings(Kc, Ti, Td);
 //                    controller.setMode(1);
                     break;
+                case 'l':
+                    sing(10000);
+                    break;
                 default:
                     //Set speed variables to zero to stop motor spinning
                     //Print error message