Diff: main.cpp

Revision:

15:b7ca53716b05

Parent:

14:e66cf781f5b9

Child:

16:afe936377d66

--- a/main.cpp	Tue Nov 19 16:44:00 2019 +0000
+++ b/main.cpp	Tue Nov 19 19:49:13 2019 +0000
@@ -1,7 +1,5 @@
 //Enhancement 2//
-
 #include "mbed.h"
- 
 //Status LED
 DigitalOut led(LED1);
  
@@ -45,6 +43,7 @@
 float dis;
 float trav =0;
 float speedA, speedB = 1.0f;
+float paceA, paceB = 1.0f;
 void time()
     {
         //Reset timer and Start
@@ -110,7 +109,32 @@
     timer1.reset();
     time();
 }
-         
+
+void oneRPS ()
+{
+    time();
+    if (speedA <= 1.0f)
+    {
+        paceA +=0.01f;
+        wait_ms(25);
+    }
+    else if (speedA >= 1.0f)
+    {
+        paceA -=0.01f;
+        wait_ms(25);
+    }
+    else if (speedB <= 1.0f)
+    {
+        paceB +=0.01f;
+        wait_ms(25);
+    }
+    else if (speedB >= 1.0f)
+    {
+        paceB -=0.01f;
+        wait_ms(25);
+    }
+}
+      
 int main()
 {
     
@@ -175,28 +199,57 @@
     PWMB.write(paceB);
     while(1)
     {
-        time();
-        if (speedA <= 1.0f)
-        {
-            paceA +=0.01f;
-            wait_ms(25);
-        }
-        if (speedA >= 1.0f)
-        {
-            paceA -=0.01f;
-            wait_ms(25);
-        }
-        if (speedB <= 1.0f)
-        {
-            paceB +=0.01f;
-            wait_ms(25);
-        }
-        if (speedB >= 1.0f)
-        {
-            paceB -=0.01f;
-            wait_ms(25);
-        }
-        PWMA.write(paceA);
-        PWMB.write(paceA);
+        oneRPS();
+        while(trav <= 1250)  
+            {  
+               PWMA.write(paceA);          //Set duty cycle y  
+               PWMB.write(paceB);
+               time();
+               oneRPS();
+            } 
+        reset();
+        while(trav <= 330)  
+            {  
+               PWMA.write(paceA);           
+               PWMB.write(0.0f);
+               time();
+               oneRPS();
+            }
+        reset();
+        while(trav <= 1457)  
+            {  
+               PWMA.write(paceA);           
+               PWMB.write(paceB);
+               time();
+               oneRPS();
+            }
+        reset();
+        while(trav <= 268)  
+            {  
+               PWMA.write(paceA);           
+               PWMB.write(0.0f);
+               time();
+               oneRPS();
+            }
+        reset();
+        while(trav <= 750)  
+            {  
+               PWMA.write(paceA);           
+               PWMB.write(paceB);
+               time();
+               oneRPS();
+            }
+        reset();
+        while(trav <= 200)  
+            {  
+               PWMA.write(paceA);           
+               PWMB.write(0.0f);
+               time();
+               oneRPS();
+            }  
+        timer.stop();   
+        break;
     }
+    PWMA.write(0.0f);           
+    PWMB.write(0.0f);
 }
\ No newline at end of file