Rachel Ireland-Jones / Mbed OS FinalYear0
Revision:
8:f2b6ef8c5eb8
Parent:
7:9c77eca4158a
Child:
9:45ae94cf5e23
--- a/main.cpp	Thu Nov 14 16:55:17 2019 +0000
+++ b/main.cpp	Tue Nov 19 12:17:42 2019 +0000
@@ -69,14 +69,13 @@
 int tA1[2];
 int tA2[2];
 float dis;
-float distance;
+float trav =0;
 
 void time()
         {
             //Reset timer and Start
         timer.reset();
         timer.start();
- 
         //*********************************************************************
         //FIRST TIME - SYNCHRONISE (YOU SHOULD NOT NEED THIS ONCE IT's RUNNING)
         //*********************************************************************
@@ -123,9 +122,9 @@
 
         dis = timer1.read_us();
         float mm = ((TA*3)*20.8)/175.9;
-        distance = dis/(mm);
+        trav = dis/(mm);
         float fA = 1.0f/ (TA *(float)3.0E-6);
-        terminal.printf("Average A2 Shaft: %6.2fHz \t Wheel: %6.2f \t distance: %6.2f\n", fA, fA/20.8f, distance);
+        terminal.printf("Average A2 Shaft: %6.2fHz \t Wheel: %6.2f \t trav: %6.2f\n", fA, fA/20.8f, trav);
         }
          
 int main()
@@ -159,49 +158,45 @@
  
     //Wait - give time to start running
     wait(1.0);
- 
-
-    
-    
     
     //Main polling loop
     while(1)
     {
-        
-        while(distance <= 1250)  
+        timer1.start();
+        while(trav <= 1250)  
             {  
                PWMA.write(dutyA);          //Set duty cycle y  
                PWMB.write(dutyB);
                time();
             }  
-        while(distance <= 1331)  
+        while(trav <= 1331)  
             {  
-               PWMA.write(0.0F);           
-               PWMB.write(dutyB);
+               PWMA.write(dutyA);           
+               PWMB.write(0.0f);
                time();
             }
-        while(distance <= 2788)  
+        while(trav <= 2788)  
             {  
                PWMA.write(dutyA);           
                PWMB.write(dutyB);
                time();
             }
-        while(distance <= 3544)  
+        while(trav <= 3544)  
             {  
-               PWMA.write(0.0F);           
-               PWMB.write(dutyB);
+               PWMA.write(dutyA);           
+               PWMB.write(0.0f);
                time();
             }
-        while(distance <= 4294)  
+        while(trav <= 4294)  
             {  
                PWMA.write(dutyA);           
                PWMB.write(dutyB);
                time();
             }
-        while(distance <= 4963)  
+        while(trav <= 4963)  
             {  
-               PWMA.write(0);           
-               PWMB.write(dutyB);
+               PWMA.write(dutyA);           
+               PWMB.write(0.0f);
                time();
             }