Revision 8:cde09ae38be7, committed 2017-03-16

Comitter:

jplager3

Date:

Thu Mar 16 01:28:27 2017 +0000

Parent:

7:df218a6a1a01

Child:

9:37bb5f0e2975

Commit message:

Successful independent control of both motors.; Issue: Left motor runs at max speed for ~1s on startup and idk why.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.lib	Thu Mar 16 01:28:27 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/Motor/#f265e441bcd9

--- a/main.cpp	Wed Mar 15 21:12:03 2017 +0000
+++ b/main.cpp	Thu Mar 16 01:28:27 2017 +0000
@@ -4,6 +4,7 @@
 //#include "ShiftBrite.h"
 #include "SDFileSystem.h"
 #include "wave_player.h"
+#include "Motor.h"
 
 Mutex mutex;    //
 Mutex mutex2;   //
@@ -15,20 +16,19 @@
 Thread thread2;
 Thread thread3;
 Thread thread4;
-//DigitalOut latch(p15);
-//DigitalOut enable(p16);
 SPI spi(p11, p12, p13);
-//uLCD_4DGL uLCD(p28,p27,p29); //(p27, p28, p30);    //tx, rx, rst
 uLCD_4DGL uLCD(p28, p27, p30); 
-//ShiftBrite myBrite(p15,p16,spi); //latch, enable, spi
 SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card
 AnalogOut DACout(p18);      //must be p18
 AnalogIn IR(p20);
-//RawSerial BT(p9, p10);  //bluetooth pinout
 FILE *wave_file = NULL;         //global bc its gotta be changed by Main while running in child thread
 FILE *wave_file2 = NULL;
 wave_player waver(&DACout);     //create wave_player object for speaker
-
+//create objects for Motor Control
+//PwmOut motorL(p21);           // doesnt seem to work
+//Motor Left(p21, p12, p11); //, p6, p5, 1); // pwm, fwd, rev, can brake
+Motor Left(p21, p14, p13);      // green wires. pwm, fwd, rev, add ", 1" for braking
+Motor Right(p22, p12, p11);     // red wires
 void LCD_thread1() {
     while(1){    
         mutex.lock();
@@ -65,12 +65,23 @@
 }
 
 int main() {
+    Left.speed(0.0);
+    Right.speed(0.0);
     //thread1.start(IR_thread); // read in IR data
     thread2.start(LCD_thread1);   
     //thread3.start(Motor_thread);
     thread4.start(sound_thread);
     
     while(1){
+        //motor testing
+        //motorL.write(.8);
+        
+        for(float i=0.5;i>0.0;i-=0.1){
+            Left.speed(i);
+            Right.speed(-i);
+            wait(0.75);
+        }
+        
         //IR testing
         if(IR>0.3 && IR<0.5) {
             led1=1;
@@ -92,6 +103,7 @@
              *
              *
              */
+            //motorL.write(.5);
             // write reverse values to the motors for N rotations
             // execute turn by stopping one wheel, and turning the other (trial and error to find exact rotation?)
             // jump back to normal behavior