Diff: main.cpp

Revision:

5:77b574b21fcc

Parent:

4:335d5a21f9f7

Child:

6:d03601aced9b

--- a/main.cpp	Wed Feb 04 00:20:43 2015 +0000
+++ b/main.cpp	Wed Feb 04 04:29:36 2015 +0000
@@ -3,7 +3,7 @@
 ///////////////////////////////////////////////////
 
 #include "mbed.h"
-#include "motordriver.h"
+#include "motordriver.h"  //additional library to expand capabilities of PWMOut for use with motor drivers
 
 //Initialization//
 Motor drive(p26, p25, p24, 1); //drive motor (PWM, fwd, rev, brake
@@ -12,13 +12,15 @@
 InterruptIn forward(p15);      //remote signal to drive car forward
 InterruptIn reverse(p16);      //signal to drive car in reverse
 InterruptIn echo(p29);         //interrupt for range echo pulse
+
 DigitalOut trigger(p30);       //Dout fo the trigger
 
 Timer t;                       //initializes timer
 
 DigitalOut fwdled(LED1);       //for testing interrupts, etc
 DigitalOut revled(LED2);       // ""
-DigitalOut jumpled(LED3);
+DigitalOut jumpled(LED3);      // ""
+DigitalOut testled(LED4);         // ""
 
 
 int rev = 0, fwd = 0;          //flag for fwd and rev
@@ -41,28 +43,28 @@
     fwd = rev = 0;
 }
 void startechotimer()
-{
+{    
     t1 = t.read_us();
 }
 void endechotimer()
 {
-    t2 = t.read_us();
+    t2 = t.read_us();   
 }
 
 //Functions
 void trigger_pulse()  //trigger pulse for range sensor
 {
     trigger = 1;
-    wait(.000001);
-    trigger = 0;
+    wait(.00002);
+    trigger = 0;    
 }
 
 void distance()
 {
     float dist;
-    dist = (t2-t1)/58.0; ///*****convert delay to distance in cm here*****
+    dist = (t2-t1)/58.0; //converts time to distance in cm
     
-    if (dist > 4.0)
+    if (dist < 6.0)
         jump = 1;
     else
         jump = 0;
@@ -81,9 +83,14 @@
 
 int main()
 {
+    
 
     float PWM_drive = 0.0;      //initialize PWM speed for drive wheels
 
+    fwdled = 0;
+    revled = 0;
+    testled = 0;
+    jumpled = 0;
 
     forward.rise(&driveforward); // rising edge on p15 triggers interrupt to go forward
     forward.fall(&stop);         // falling edge p15 triggers a stop
@@ -102,7 +109,8 @@
         PWM_drive = 0.50;  //***control law here for drive speed
         
         trigger_pulse(); //send trigger pulse
-        wait(.005);
+        wait(.1);
+        distance();
 
         if (jump)
         {