Diff: main.cpp

Revision:

0:17d76ace37b6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 06 17:20:00 2015 +0000
@@ -0,0 +1,113 @@
+// main.cpp -----------------------------------------
+#include "mbed.h"
+#include "motorControl.h"
+
+DigitalIn Motor1A(p10);
+DigitalIn Motor1B(p25);
+
+DigitalIn Motor2A(p13);
+DigitalIn Motor2B(p23);
+
+DigitalIn Motor3A(p12);
+DigitalIn Motor3B(p24);
+
+DigitalIn Motor4A(p11);
+DigitalIn Motor4B(p26);
+
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+#define MTR1A 0
+#define MTR1B 1
+#define MTR2A 2
+#define MTR2B 3
+#define MTR3A 4
+#define MTR3B 5
+#define MTR4A 6
+#define MTR4B 7
+
+int mtrCounts[4];
+
+int flagMotor1A = 0;
+int flagMotor2A = 0;
+int flagMotor3A = 0;
+int flagMotor4A = 0;
+
+int warmUpNeeded = 0;
+int repeatFlag = 1;
+
+Timer timer1;
+Timer timer2;
+
+int main() 
+{   /*
+    stopMotors();
+    wait(10);
+    */
+    while(1){
+    stopMotors1();
+    }/*
+        if(warmUpNeeded < 4 && repeatFlag == 1){
+            warmUpNeeded = warmUpNeeded + warmupStart();
+            timer1.start();
+            repeatFlag = 0;
+        }
+        if(0.95 < timer1.read() && timer1.read() < 1.05){
+            stopMotors();
+            wait(1);
+            timer1.reset();
+            timer1.start();
+            recordMotorCounts(&mtrCounts[0]);
+            repeatFlag = 1;
+        }
+        if(warmUpNeeded == 4 && repeatFlag == 1){
+            exponentialAccAndDecCurves(); 
+            warmUpNeeded = 10000;
+        }
+    
+        if(Motor1A == 0 && flagMotor1A == 1){
+            mtrCounts[0]++;
+            flagMotor1A = 0;
+        }
+        if(Motor1A == 1 && flagMotor1A == 0){ 
+            mtrCounts[0]++;
+            flagMotor1A = 1;
+        }
+    
+        if(Motor2A == 0 && flagMotor2A == 1){
+            mtrCounts[1]++;
+            flagMotor2A = 0;
+        }
+        if(Motor2A == 1 && flagMotor2A == 0){ 
+            mtrCounts[1]++;
+            flagMotor2A = 1;
+        }
+    
+        if(Motor3A == 0 && flagMotor3A == 1){
+            mtrCounts[2]++;
+            flagMotor3A = 0;
+        }
+        if(Motor3A == 1 && flagMotor3A == 0){ 
+            mtrCounts[2]++;
+            flagMotor3A = 1;
+        }
+    
+        if(Motor4A == 0 && flagMotor4A == 1){
+            mtrCounts[3]++;
+            flagMotor4A = 0;
+        }
+        if(Motor4A == 1 && flagMotor4A == 0){ 
+            mtrCounts[3]++;
+            flagMotor4A = 1;
+        }
+    } */
+}
+        
+
+
+
+
+
+
+
+