Diff: main.cpp

Revision:

3:597f8492fee2

Parent:

2:819397348cd0

Child:

5:893aa74ff5aa

--- a/main.cpp	Wed Dec 02 15:43:38 2015 +0000
+++ b/main.cpp	Thu Dec 03 06:36:21 2015 +0000
@@ -1,6 +1,6 @@
 #include "mbed.h"
 #include "Regrind.h"
-#include "TB6612FNG.h"
+#include "RioRandHBridge.h"
 #include "Solenoid.h"
 
 #define OG1_TO_OG2_DIST 1
@@ -19,13 +19,15 @@
 Solenoid led4(LED4, LED_ON_DELAY, LED_OFF_DELAY);
 DigitalOut onePPS_out(p29);
 Solenoid solenoid(p30, SOLENOID_ON_DELAY, SOLENOID_OFF_DELAY); //Solenoid(PinName pin, float ondelay, float offdelay)
-TB6612FNG augerMotors(p21, p26, p25, p22, p24, p23, p27); //TB6612FNG( PinName pinPwmA, PinName pinAin1, PinName pinAin2, PinName pinPwmB, PinName pinBin1, PinName pinBin2, PinName pinNStby );
+RioRandHBridge augerMotors(p21, p25, p22, p23); //RioRandHBridge( PinName pinPwm1, PinName pinDir1, PinName pinPwm2, PinName pinDir2);
+DigitalIn reverseMotor1pb(p26);
+DigitalIn reverseMotor2pb(p24);
 AnalogIn topMotorAdjuster(p19);
-AnalogIn bottomMotorAdjuster(p16);
+DigitalOut bottomMotorAdjuster(p16,0);
 DigitalOut unused1(p17,0);
 AnalogIn og1(p15);
 AnalogIn og2(p20);
-AnalogIn og3(p18);
+DigitalOut og3(p18,0);
 InterruptIn divertParticle(p5);
 Timer totalT;
 DigitalOut startColor(p6);
@@ -68,6 +70,12 @@
 void divert(){
     regrindArray[og2Ndx].divert = 1;
     }
+void reverseMotor1(){
+    augerMotors.Dir1 = !augerMotors.Dir1;
+    }
+void reverseMotor2(){
+    augerMotors.Dir2 = !augerMotors.Dir2;
+    }
 
 int main() {
     //Start Clock
@@ -79,10 +87,14 @@
     1pps.attach(&flip, 1.0);
     */
     //Setup motors
-    augerMotors.setPwmApulsewidth(0.0);
-    augerMotors.setPwmBpulsewidth(0.0);
-    augerMotors.motorA_ccw();
-    augerMotors.motorB_ccw();
+    reverseMotor1pb.mode( PullUp );
+    reverseMotor2pb.mode( PullUp );
+    //reverseMotor1pb.attach_asserted( &reverseMotor1 );
+    //reverseMotor2pb.attach_asserted (&reverseMotor2);
+    augerMotors.setpwm1pulsewidth(0.0);
+    augerMotors.setpwm2pulsewidth(0.0);
+    augerMotors.motor1_ccw();
+    augerMotors.motor2_ccw();
     
     //Spin up Motors until fluctuation of 10% seen
     
@@ -115,12 +127,13 @@
         //Sample ADCs
         og1_adc = og1.read()*3.3;
         og2_adc = og2.read()*3.3;
-        og3_adc = og3.read()*3.3;
+        //og3_adc = og3.read()*3.3;
         //wait(0.01);
         //pc.printf("og1: %f og2: %f og3: %f\n\r",og1_adc, og2_adc, og3_adc);
         
         if((og1_calibration - og1_adc > THRESHOLD) && (og1Oneshot != 1)){ //Something passed through og1
             og1Oneshot = 1;
+            divertParticle.rise(&divert);
             //pc.printf("Regrind seen at OG 1 : %fV\n\r", og1_adc);
             led2 = 1;
             
@@ -136,6 +149,7 @@
         
         if((og2_calibration - og2_adc > THRESHOLD) && (og2Oneshot != 1)){
             og2Oneshot = 1;
+            divertParticle.rise(NULL);
             regrindArray[og2Ndx%REGRIND_ARRAY_SIZE].setVelocity(OG1_TO_OG2_DIST);
             led3 = 1;
             if(regrindArray[og2Ndx].divert == 1){
@@ -149,7 +163,7 @@
             og2Oneshot = 0;
             
         }//else if(og2 ...)
-        
+        /*
         if((og3_adc == 0) && (og3Oneshot != 1)){
             og3Oneshot = 1;
             led4 = 1;
@@ -162,7 +176,7 @@
             og3Oneshot = 0;
             
         }//else if(og3 ...)
-        
+        */
         //Check on 1pps clock
         if((totalT.read_us() % 2000000) < 1000000){
             led1 = 1;
@@ -176,8 +190,9 @@
         //Check if data writing flag is set - if so, write to SD card
         
         //Adjust PWM as necessary
-        augerMotors.setPwmApulsewidth(topMotorAdjuster.read());
-        augerMotors.setPwmBpulsewidth(bottomMotorAdjuster.read());
+        augerMotors.Dir1 = reverseMotor1pb;
+        augerMotors.setpwm1pulsewidth(topMotorAdjuster.read());
+        augerMotors.setpwm2pulsewidth(bottomMotorAdjuster.read());
         //pc.printf("top: %f bottom: %f\n\r",topMotorAdjuster.read(),bottomMotorAdjuster.read());
     } //while(1)
     totalT.stop();