Diff: main.cpp

Revision:

0:e3a927f789f0

Child:

1:f102ace95c79

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 03 03:23:51 2015 +0000
@@ -0,0 +1,59 @@
+// Jared Wilkins, Katie MacVarish, Grant LaTerza //
+// Capstone Project Code                         //
+///////////////////////////////////////////////////
+
+#include "mbed.h"
+#include "motordriver.h"
+
+////////Initialization/////////////////////
+Motor drive(p26, p25, p24, 1); //drive motor (PWM, fwd, rev, brake
+Motor wheel(p23, p22, p21, 1); //flywheel (PWM, fwd, rev, brake)
+InterruptIn forward(p15);      //remote signal to drive car forward
+InterruptIn reverse(p16);      //signal to drive car in reverse
+
+
+int fwd = 0;
+int rev = 0;
+
+///////Interrupt Service Routines////////////
+void driveforward()
+{
+    fwd = 1;
+}
+void drivereverse()
+{
+    rev=1;
+}
+void stop()
+{
+    fwd = rev = 0;
+}
+/////////////////////////////////////////////
+
+int main()
+{
+    float PWM_drive = 0.0;
+    float PWM_wheel = 0.0;
+
+    forward.rise(&driveforward); //setting up Interrupts
+    forward.fall(&stop);         //
+    reverse.fall(&drivereverse); //
+    reverse.rise(&stop);         //
+
+    while(1) 
+    {
+        PWM_drive = 0.50;  //***control law here***
+        PWM_wheel = 0.20;  //***control law here***
+
+        if(fwd)                      //reads flags for drive/rev
+            drive.speed(PWM_drive);  
+        else if(rev)
+            drive.speed(-PWM_drive);
+        else
+            drive.coast();
+            
+        wheel.speed(PWM_wheel);  //sets PWM for flywheel
+
+
+    }
+}
\ No newline at end of file