Revision 1:92eb1c9934ee, committed 2015-10-24

Comitter:

nathanielchu

Date:

Sat Oct 24 17:39:58 2015 +0000

Parent:

0:524c6a42541a

Commit message:

commit 2 - testing encoders

Changed in this revision

diff -r 524c6a42541a -r 92eb1c9934ee PinDefinitions.h
--- a/PinDefinitions.h	Thu Oct 22 23:50:09 2015 +0000
+++ b/PinDefinitions.h	Sat Oct 24 17:39:58 2015 +0000
@@ -1,8 +1,8 @@
 #include "mbed.h"
 #include "QEI.h"
 
-PwmOut LMOTORA(PB_5);
+PwmOut LMOTORA(PB_5);   // change these to D
 PwmOut LMOTORB(PB_10); 
 PwmOut RMOTORA(PA_6); 
 PwmOut RMOTORB(PB_8); 
-QEI LENC (PC_1, PC_0, NC, 100);
\ No newline at end of file
+QEI LENC (PC_1, PC_0, NC, 100);     // are the encoder pins correct?
\ No newline at end of file

diff -r 524c6a42541a -r 92eb1c9934ee main.cpp
--- a/main.cpp	Thu Oct 22 23:50:09 2015 +0000
+++ b/main.cpp	Sat Oct 24 17:39:58 2015 +0000
@@ -1,10 +1,10 @@
 #include "mbed.h"
 #include "PinDefinitions.h"
 
-Serial pc(USBTX, USBRX);
+Serial pc(USBTX, USBRX);        // serial pc not working yet
 InterruptIn mybutton(USER_BUTTON);
-DigitalOut LD3(LD3);
-DigitalOut motor_enabler(PB_6);
+DigitalOut Led3(LD3);
+DigitalOut motor_enabler(PB_6);     //change this to D
 
 int distance = LENC.getPulses();
 
@@ -43,44 +43,39 @@
 
 void pressed()
 {
-    //led1 = !led1;
+    Led3 = !Led3;
     pc.printf("Hellooooo\r\n");
 }
 
 int main() {
 
-    //mybutton.fall(&pressed);
-    LD3 = 0;
+    mybutton.fall(&pressed);
+    Led3 = 0;
     
     motor_enabler = 1;
-    while(1){
-        
-        RMOTORA = 1.0;
-        RMOTORB = 0;
-        LMOTORA = 1.0;
-        LMOTORB = 0;
-        
-    }
     
-}    
-        /*
-        while (LENC.getPulses() < 5000) {
-            led1 = 1;
-            setLeftPwm(0.5);
-        }
-        LENC.reset();
-        while (LENC.getPulses() < 5000) {
-            led1 = 0;
-            setLeftPwm(0.25);
-        }
-        LENC.reset();
-        while (LENC.getPulses() < 10000) {
-            led1 = 1;
-            setLeftPwm(1.0);
-       }
-       */
+    while (LENC.getPulses() < 5000) {   //while encoder pulses are less than 5000, turn led3 on and set LMOTORA to 0.50
+        led3 = 1;
+        setLeftPwm(0.5);
+    }
+    LENC.reset();                       // reset encoder pulse count to zero
+    while (LENC.getPulses() < 5000) {   //while encoder pulses are less than 5000, turn led3 off and set LMOTORA to 0.25
+        led3 = 0;
+        setLeftPwm(0.25);
+    }
+    LENC.reset();
+    while (LENC.getPulses() < 10000) {  //while encoder pulses are less than 10000, turn led3 on and set LMOTORA to 1.00
+        led3 = 1;
+        setLeftPwm(1.0);
+    }
+
+    
+  
+        
+ 
        
        
+}