Revision 2:2195a4abdf8c, committed 2018-11-28

Comitter:

drewrobinson

Date:

Wed Nov 28 21:00:21 2018 +0000

Parent:

1:e2865ed633bb

Commit message:

best mast to date

Changed in this revision

--- a/main.cpp	Wed Nov 28 15:13:58 2018 +0000
+++ b/main.cpp	Wed Nov 28 21:00:21 2018 +0000
@@ -35,20 +35,25 @@
 DigitalOut   dir( p24 );
 DigitalOut    I(p26);
 DigitalOut slp(p29); //sleep
-float d_ang = 180.0;
-float pos = 180.0;
+DigitalOut r_slp(p30);
+DigitalOut m_led(LED1);
+float d_ang;
+float pos;
 float RC_O;
 
 //**get position**
-float posi(float in);
+float posi();
 
 
 int main(void)
 {
-
-    I=0;
-    motor.period(.001);
-    motor.pulsewidth(0);
+    I=0; //sets for 1.5amp output
+    motor.period(.001); //sets the pulse width modulation period
+    motor.pulsewidth(0); 
+    slp = 0;
+    r_slp = 0; //sstarts the current driver in off state
+    wait(10);
+    m_led = 1; //indicate that the wait period is over
     // loop
     while(1) {
         //now = rtos::Kernel::get_ms_count();
@@ -56,27 +61,27 @@
 
         if (rx.valid) {
             RC_O = rx.channel[0];
-            pc.printf(" rc: %f\n",rx.channel[0]);
+            //pc.printf(" rc: %f\n",rx.channel[0]);
         } else {
-            pc.printf(" invalid\r\n");
+            //pc.printf(" invalid\r\n");
             slp = 0;
         }
         //39.19
         d_ang = (RC_O/6.77)+39.19;
 
         pos = (ain-.108)/.002466;
-        //pc.printf(" %.3f\n",);
-        if((pos > (d_ang-3.0)) && (pos < (d_ang+3.0))) {
+        pc.printf(" %.3f\n",pos);
+        if((pos > (d_ang-3.0))) {
             motor.pulsewidth(0);
             slp = 0;
         }
-        if( (pos > (d_ang+3.0)) && pos < 270.0) {
+        if( (pos > (d_ang+3.0))) {
             slp = 1;
             while(pos > d_ang) {
                 dir = 1; //left??
                 motor.pulsewidth(.0005);
-                pc.printf("pos: %.3f\n",pos);
-                pos = posi(ain);
+                //pc.printf("pos: %.3f\n",pos);
+                pos = posi();
             }//while pos
             motor.pulsewidth(0);
         }//if pos
@@ -85,8 +90,8 @@
             while(pos < d_ang) {
                 dir = 0; //right??
                 motor.pulsewidth(.0005);
-                pc.printf("pos: %.3f\n",pos);
-                pos = posi(ain);
+                //pc.printf("pos: %.3f\n",pos);
+                pos = posi();
             }//while pos
             motor.pulsewidth(0);
         }
@@ -97,7 +102,7 @@
 
 
 
-float posi(float in)
+float posi()
 {
     float p1;
     float p2;