Diff: main.cpp

Revision:

16:cefb22c49c2f

Parent:

15:f86310960aab

Child:

17:eb74805e8f9b

--- a/main.cpp	Thu Aug 12 16:53:02 2021 +0000
+++ b/main.cpp	Thu Aug 12 17:39:38 2021 +0000
@@ -147,10 +147,12 @@
             double timeElapsed = testTimer.read();
             double timeRemaining = SPIN_T[5] - timeElapsed;
             int displayTime = int(timeRemaining)+1;
-            printf("Time remaining %d s\r\n", displayTime);
+            
             //mut1.lock();
             double printDemandSpeed = demandSpeed_RPM;
             double printCurrentSpeed = currentSpeedRPM;
+            int intCurrentSpeed = int(printCurrentSpeed);
+            printf("Current Speed %d RPM.\t Time remaining %d s\r\n",intCurrentSpeed, displayTime);
             //mut1.unlock();
             //printf("%f\t%f\r\n", currentSpeedRPM,_MagFil);
             //printf("%f\t%f\r\n", printDemandSpeed,printCurrentSpeed);
@@ -172,6 +174,18 @@
     }
 }
 
+bool isSpinning(){
+    int pulses1 = encoder.getPulses();
+    wait(0.1);
+    int pulses2 = encoder.getPulses();
+    int difference = pulses2 - pulses1;
+    if (abs(difference) > 10){
+        return 1;
+    }else{
+        return 0;
+    }
+}
+
 void MotorControl(){
     double Ax, Ay, Az, Mag;
     static double MagFil, lastAx, lastAy, lastAz;
@@ -293,9 +307,12 @@
                 PWMA.write(0.0);
                 
                 //add check if motor has stopped
-                ThisThread::sleep_for(500);
-                EN_FAULTA.write(0);//disable motor
-                EN_FAULTB.write(0);
+                printf("Wating for motor to stop.\r\n");
+                while(isSpinning()){
+                    ThisThread::sleep_for(200);
+                }
+                //EN_FAULTA.write(0);//disable motor
+                //EN_FAULTB.write(0);
                 
                 tickerMotorControl.detach(); //detach the semaphore release for motor control
                 tickerPrint.detach();
@@ -348,17 +365,7 @@
     semButton.release();
 }
 
-bool isSpinning(){
-    int pulses1 = encoder.getPulses();
-    wait(0.1);
-    int pulses2 = encoder.getPulses();
-    int difference = pulses2 - pulses1;
-    if (abs(difference) > 10){
-        return 1;
-    }else{
-        return 0;
-    }
-}
+
 
 void ReadButton()
 {
@@ -467,7 +474,7 @@
     PHB.write(0);
     EN_FAULTB.write(0);
     
-    EN_FAULTA.write(0);
+    EN_FAULTA.write(1);//remove incase of restart?
     STBY.write(1);
     //calculate filter constant
     speedFilterConstant = 2*3.141593*SAMPLE_TIME_US/1000000*FILTER_CUTOFF_FREQ;