Diff: main.cpp

Revision:

6:98121d2d76a6

Parent:

5:9b5edadc023b

Child:

7:9a3809a9ab3e

--- a/main.cpp	Sat Oct 08 15:34:37 2016 +0000
+++ b/main.cpp	Mon Oct 10 11:03:35 2016 +0000
@@ -2,12 +2,17 @@
 #include "MODSERIAL.h"
 #include "Servo.h"
 
+//DigitalIn Encoder_M1A(D9); 
+//DigitalIn Encoder_M1B(D10);
+//DigitalIn Encoder_M2A(D11); 
+//DigitalIn Encoder_M2B(D12);
+
 DigitalOut Direction_M1(D4);    //To control the rotation direction of the arm
-DigitalOut Speed_M1(D5);        //To control the rotation speed of the arm
-DigitalOut Speed_M2(D6);        //To control the translation direction of the arm
+PwmOut Speed_M1(D5);            //To control the rotation speed of the arm
+PwmOut Speed_M2(D6);            //To control the translation direction of the arm
 DigitalOut Direction_M2(D7);    //To control the translation speed of the arm
 
-Servo gripper_servo(D3);        //To control the gripper (Note: doesn't work on D8, unknown why)
+Servo gripper_servo(D3);        //To control the gripper (Note: D8=PTC12)
 
 InterruptIn Switch_1(D9);       //To control the rotation to the left
 InterruptIn Switch_2(D10);      //To control the rotation to the right
@@ -21,11 +26,14 @@
 
 MODSERIAL pc(USBTX, USBRX);     //To make connection with the PC
 
+float speed_translation=0.1; //0.075
+float speed_rotation=0.1; //0.075
+
 void rotation_left (){
     switch (counter_rotation_left){
         case 1:                              //For activating the rotation to the left
             Direction_M1 = 1;                //The arm will rotate to the left  
-            Speed_M1 = 1;                    //The motor is turned on
+            Speed_M1 = speed_rotation;                    //The motor is turned on
             pc.printf("The arm will now rotate to the left \n");
             wait(0.5f);
             break;
@@ -50,7 +58,7 @@
     switch (counter_rotation_right){
         case 1:                              //For activation the rotation to the right
             Direction_M1 = 0;                //The arm will rotate to the right 
-            Speed_M1 = 1;                    //The motor is turned on
+            Speed_M1 = speed_rotation;                    //The motor is turned on
             pc.printf("The arm will now rotate to the right \n");
             wait(0.5f);
             break;
@@ -75,7 +83,7 @@
     switch (counter_translation){
         case 1:                              //For activating the elongation of the arm
             Direction_M2 = 1;                //The arm will get longer  
-            Speed_M2 = 1;                    //The motor is turned on
+            Speed_M2 = speed_translation;                    //The motor is turned on
             pc.printf("The arm will now get longer \n");
             wait(0.5f);
             break;
@@ -87,7 +95,7 @@
             break;
         case 3:                              //For activating the shortening of the arm
             Direction_M2 = 0;                //The arm will get shorter  
-            Speed_M2 = 1;                    //The motor is turned off
+            Speed_M2 = speed_translation;                    //The motor is turned off
             pc.printf("The arm will now get shorter \n");
             wait(0.5f);
             break;
@@ -138,7 +146,7 @@
     Direction_M1 = 1;               //The arm will initially get longer  
     Speed_M1 = 0;                   //The first motor is initially turned off
     Direction_M2 = 255;             //The arm will initially turn left  
-    Speed_M1 = 0;                   //The second motor is initially turned off
+    Speed_M2 = 0;                   //The second motor is initially turned off
     gripper_servo = 1;              //The gripper is initially open
     
     Switch_1.rise(&switch_counter_rotation_left);