Diff: main.cpp

Revision:

11:5ff18183764a

Parent:

10:a4b5723b6c9d

Child:

12:6ad981ef8cc9

diff -r a4b5723b6c9d -r 5ff18183764a main.cpp
--- a/main.cpp	Tue Feb 26 12:23:17 2019 +0000
+++ b/main.cpp	Wed Feb 19 21:01:00 2020 +0000
@@ -23,6 +23,11 @@
 #define MCSPpin   A1
 #define MCSNpin   A0
 
+//Test outputs
+#define TP0pin D4
+#define TP1pin D13
+#define TP2pin A2
+
 //Mapping from sequential drive states to motor phase outputs
 /*
 State   L1  L2  L3
@@ -61,6 +66,9 @@
 DigitalOut L3L(L3Lpin);
 DigitalOut L3H(L3Hpin);
 
+DigitalOut TP1(TP1pin);
+PwmOut MotorPWM(PWMpin);
+
 //Set a given drive state
 void motorOut(int8_t driveState){
     
@@ -105,6 +113,10 @@
     int8_t intState = 0;
     int8_t intStateOld = 0;
     
+    const int32_t PWM_PRD = 2500;
+    MotorPWM.period_us(PWM_PRD);
+    MotorPWM.pulsewidth_us(PWM_PRD);
+    
     //Initialise the serial port
     Serial pc(SERIAL_TX, SERIAL_RX);
     pc.printf("Hello\n\r");
@@ -114,13 +126,15 @@
     pc.printf("Rotor origin: %x\n\r",orState);
     //orState is subtracted from future rotor state inputs to align rotor and motor states
     
+    MotorPWM.pulsewidth_us(PWM_PRD/2);
     //Poll the rotor state and set the motor outputs accordingly to spin the motor
     while (1) {
         intState = readRotorState();
         if (intState != intStateOld) {
+            motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
+            if (intState == 4 && intStateOld == 3) TP1 = !TP1;
             intStateOld = intState;
-            motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
-            //pc.printf("%d\n\r",intState);
+            pc.printf("%d\n\r",intState);
         }
     }
 }