Diff: main.cpp

Revision:

0:751b3c43eaf5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Nov 25 14:53:28 2010 +0000
@@ -0,0 +1,62 @@
+#include <mbed.h>
+#include <motordriver.h>
+//pc interface
+Serial pc(USBTX, USBRX); // tx, rx
+//declare motors
+Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can break
+Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can break
+//debugging stuff, switches a new led on after each sqeuence.
+DigitalOut led1 (LED1);
+DigitalOut led2 (LED2);
+DigitalOut led3 (LED3);
+DigitalOut led4 (LED4);
+
+int main() {
+    pc.printf("motor A, reverse to foward \n");
+    pc.printf("motor B, reverse to foward \n\n");
+
+    pc.printf("state motor A, %f, state motor B, %f \n\n", A.state(), B.state());
+    //should be 2.
+    led1=1;
+
+    for (float s=-1.0; s < 1.0 ; s += 0.01) {//sweep from reverse to foward
+        pc.printf("A %f %f \n",A.speed(s), s);
+        pc.printf("B %f %f \n\n",B.speed(s), s);
+        //should follow the output of the for loop
+        wait(0.02);
+    }
+    pc.printf("state motor A, %f, state motor B, %f \n\n", A.state(), B.state());
+    //should be 0.99 0.99.
+    
+    led2=1;
+
+    pc.printf("\nmotor A, braking \n");
+    pc.printf("motor B, braking \n\n");
+
+    pc.printf("A %f 0.5 \n",A.stop(0.5));
+    pc.printf("B %f 0.5 \n",B.stop(0.5));
+
+    pc.printf("\nstate motor A, %f, state motor B, %f \n\n", A.state(), B.state());
+    //should be -2 -2.
+    
+        for (float s=-1.0; s < 1.0 ; s += 0.01) {//sweep motors in opposite directions
+        pc.printf("A %f %f \n",A.speed(-s), s);
+        pc.printf("B %f %f \n\n",B.speed(s), s);
+        //should follow the output of the for loop
+        wait(0.02);
+    }
+    pc.printf("state motor A, %f, state motor B, %f \n\n", A.state(), B.state());
+    //should be -1 0.99.
+    
+    led3=1;
+    wait(1);
+
+    pc.printf("motor A, coasting \n");
+    pc.printf("motor B, coasting \n\n");
+
+    A.coast();
+    B.coast();
+    pc.printf("state motor A, %f, state motor B, %f \n end\n end\n", A.state(), B.state());
+    //should be 2 2.
+    led4=1;
+}
\ No newline at end of file