Diff: main.cpp

Revision:

32:9db688917ca3

Parent:

31:8d8d31b6d8cd

Child:

33:ad2ebe22f8dd

--- a/main.cpp	Tue May 17 17:07:05 2016 +0000
+++ b/main.cpp	Mon May 23 17:15:03 2016 +0000
@@ -27,36 +27,36 @@
 MotorData m1Data = {PB_0, PC_0, PC_3}; //PWM, Dir1, Dir2
 EncoderData enc1Data = {PC_1, PA_4, 102.083 * 64}; //EncA, encB  // https://www.pololu.com/product/2826
 EncoderMotor m1(m1Data, enc1Data, speedPIDData, turnPIDData, NULL);
-
+DigitalIn s1(PA_8);
 // 2
 MotorData m2Data = {PB_7, PC_14, PC_13};  //PB7 = fault
 EncoderData enc2Data = {PC_15, PH_0, 102.083 * 64};
 EncoderMotor m2(m2Data, enc2Data, speedPIDData, turnPIDData, NULL);
-
+DigitalIn s2(PH_1);
 // 3
 MotorData m3Data = {PA_15, PC_11, PC_10}; 
 EncoderData enc3Data = {PC_12, PA_13, 102.083 * 64};
 EncoderMotor m3(m3Data, enc3Data, speedPIDData, turnPIDData, NULL);
-
+DigitalIn s3(PA_14);
 // 4
 MotorData m4Data = {PB_8, PC_6, PC_9}; 
 EncoderData enc4Data = {PC_5, PA_12, 102.083 * 64};
 EncoderMotor m4(m4Data, enc4Data, speedPIDData, turnPIDData, NULL);
-
+DigitalIn s4(PA_11);
 // 5
 MotorData m5Data = {PB_15, PB_1, PB_2}; 
 EncoderData enc5Data = {PB_14, PB_13, 102.083 * 64};
 EncoderMotor m5(m5Data, enc5Data, speedPIDData, turnPIDData, NULL);
-
+DigitalIn s5(PC_4);
 // 6
 MotorData m6Data = {PB_3, PA_10, PA_2};  //PA_2 = TX; PA_3 (m6-fault) = RX
 EncoderData enc6Data = {PB_5, PB_4, 102.083 * 64};
 EncoderMotor m6(m6Data, enc6Data, speedPIDData, turnPIDData, NULL); 
-
+DigitalIn s6(PB_10);
 const int MOTORS = 6;
 EncoderMotor* ms[MOTORS] = {&m1, &m2, &m3, &m4, &m5, &m6};
 volatile int active = 0;
-
+DigitalIn ss[MOTORS] = {s1, s2, s3, s4, s5, s6};
 Ticker ticker;
 
 void rise()
@@ -94,14 +94,21 @@
     while(1)
     {
         /*int oldactive = active;
-        pc.scanf("%d", &active);
-        active--;
+        pc.scanf("%d", &active);//, speed);
+        //active--;
         ms[oldactive]->drive(0);
-        ms[active]->drive(0.25);*/
-        
+        ms[active]->drive(0.25);
+        *//*
+        //info enkoodritelt
         for (int i = 0; i < MOTORS; i++)
             pc.printf("%ld ", ms[i]->encoder.getCount());
         pc.printf("\n");
+        */
+        //info IRidelt
+        for (int i = 0; i < MOTORS; i++)
+            pc.printf("%d ", ss[i].read());
+        pc.printf("\n");
+        
         
         //pc.printf("%d", active);
         //pc.scanf("%f", &turn);