Jun KOBAYASHI / Mbed OS pololu_motor_bd65496muv

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Dependencies:   QEI

Files at this revision

API Documentation at this revision

Revision 3:7fe433d24ff7, committed 2019-07-01

Comitter:
jkoba0512
Date:
Mon Jul 01 04:14:20 2019 +0000
Parent:
2:cc875033357d
Commit message:
Fix process for pushing 'd' key (forgot 'break') and how to call callbackControlPeriod()

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r cc875033357d -r 7fe433d24ff7 main.cpp
--- a/main.cpp	Thu May 23 00:39:11 2019 +0000
+++ b/main.cpp	Mon Jul 01 04:14:20 2019 +0000
@@ -179,6 +179,7 @@
                 break;
             case 'd':
                 motor0.setDesEncPulseRate(motor0.getDesEncPulseRate() - 10);
+                break;
             case 'v':
                 motor1.switchControllerEnable(true);
                 break;
@@ -193,6 +194,7 @@
                 break;
             case 'h':
                 motor1.setDesEncPulseRate(motor1.getDesEncPulseRate() - 10);
+                break;
         }
     }
 }
@@ -219,13 +221,15 @@
 // callback per control period
 // update motor voltage
 // update enc_pulse_ratge
-void callbackControlPeriod() {
+void callbackControlPeriod0() {
     motor0.updateEncPulseRate();
-    motor1.updateEncPulseRate();
     motor0.applyInputVoltage();
+    motor0.updateInputVoltage();
+}
+
+void callbackControlPeriod1() {
+    motor1.updateEncPulseRate();
     motor1.applyInputVoltage();
-    
-    motor0.updateInputVoltage();
     motor1.updateInputVoltage();
 }
 
@@ -234,8 +238,8 @@
     pc.baud(9600);
     
     // event queue
-    queue.call_every(motor0.getControlPeriod(), &callbackControlPeriod);
-    queue.call_every(motor1.getControlPeriod(), &callbackControlPeriod);
+    queue.call_every(motor0.getControlPeriod(), &callbackControlPeriod0);
+    queue.call_every(motor1.getControlPeriod(), &callbackControlPeriod1);
     queue.call_every(100, &key_input_pc);
     queue.call_every(100, &enc_output_pc);
     queue.dispatch();