Diff: main.cpp

Revision:

10:6ecef8d1a018

Parent:

9:80c1f8bbcd55

--- a/main.cpp	Sun Dec 01 21:19:53 2013 +0000
+++ b/main.cpp	Sun Dec 01 22:25:40 2013 +0000
@@ -16,18 +16,13 @@
 PwmOut pwmOut2(p22);
 QEI encoder2(p9, p10, NC, 1200, QEI::X4_ENCODING);
 
-//force measurement pins
-AnalogIn aIn1(p15);
-AnalogIn aIn2(p16);
+DigitalIn button(p7);
 
 // Declare other objects
 Ticker ctrlTicker;                // creates an instance of the ticker class, which can be used for running functions at a specified frequency.
 Ticker trajTicker;
-Ticker writeTicker;
+Ticker buttonTicker;
 Serial mySerial(USBTX, USBRX);  // create a serial connection to the computer over the tx/rx pins
-LocalFileSystem local("local");
-FILE *fp1 = fopen("/local/encoders.csv", "w");
-FILE *fp2 = fopen("/local/force.csv", "w");
 
 DigitalOut dOut1(p17);
 
@@ -94,16 +89,14 @@
         done = false;
         aD[0] = traj1[nTraj]-a1_0;
         aD[1] = traj2[nTraj]-a2_0;
-//        aD[1] = traj2[nTraj]-a0_2+aD[0]; //corrects for coaxial motors
         nTraj++;
     }
 }
 
-void writeFiles() {
-    float f1 = aIn1.read();
-    float f2 = aIn2.read();
-    fprintf(fp1, "%f, %f\n",a1_t1, a2_t1);
-    fprintf(fp2, "%f, %f average: $f\n",f1,f2, (f1+f2)/2);
+void checkBtn() {
+    if (button.read() == 1){
+        done = true;
+    }
 }
 
 int main() {
@@ -113,29 +106,26 @@
     mDir2_A = 1;
     mDir2_B = 0;
     
-    mySerial.printf("numPoints: %d, fTraj: %f, fPWM: %f\n\r", numPoints, fTraj, fPWM);
+    //mySerial.printf("numPoints: %d, fTraj: %f, fPWM: %f\n\r", numPoints, fTraj, fPWM);
     
     //get initial position
     
     dOut1.write(1);
-    wait(0.1);    
-    dOut1.write(0);
     
     if (sizeof(traj1) == sizeof(traj2)) {
         trajTicker.attach(setTraj, 1/fTraj);
         ctrlTicker.attach(pdControl, 1/fPWM);
-        //writeTicker.attach(writeFiles, 0.01);
+        buttonTicker.attach(checkBtn, 0.1);
         while (!done) {
-            mySerial.printf("motor 2: %f \n\r", a2_t1);
+            //mySerial.printf("motor 2: %f \n\r", a2_t1);
         }
-        mySerial.printf("Done\n\r");
-        fclose(fp1);
-        fclose(fp2);
+        //mySerial.printf("Done\n\r");
+        dOut1.write(0);
         mDir1_A = 0;
         mDir1_B = 0;
         mDir2_A = 0;
         mDir2_B = 0;
     } else {
-        mySerial.printf("Input error\n\r");
+        //mySerial.printf("Input error\n\r");
     }
 }
\ No newline at end of file