Diff: main.cpp

Revision:

33:ad2ebe22f8dd

Parent:

32:9db688917ca3

Child:

34:30391b6c26fc

--- a/main.cpp	Mon May 23 17:15:03 2016 +0000
+++ b/main.cpp	Fri May 27 05:57:29 2016 +0000
@@ -29,13 +29,13 @@
 EncoderMotor m1(m1Data, enc1Data, speedPIDData, turnPIDData, NULL);
 DigitalIn s1(PA_8);
 // 2
-MotorData m2Data = {PB_7, PC_14, PC_13};  //PB7 = fault
+MotorData m2Data = {PB_7, PC_14, PA_6};  //PB7 = fault dir2 oli enne PC13
 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};
+EncoderData enc3Data = {PC_12, PA_9, 102.083 * 64}; //B oli varem PA_13
 EncoderMotor m3(m3Data, enc3Data, speedPIDData, turnPIDData, NULL);
 DigitalIn s3(PA_14);
 // 4
@@ -45,11 +45,11 @@
 DigitalIn s4(PA_11);
 // 5
 MotorData m5Data = {PB_15, PB_1, PB_2}; 
-EncoderData enc5Data = {PB_14, PB_13, 102.083 * 64};
+EncoderData enc5Data = {PC_7, PB_6, 102.083 * 64}; //B oli varem PB_13, A oli varem PB_14
 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
+MotorData m6Data = {PB_3, PA_10, PA_7};  //PA_2 = TX; PA_3 (m6-fault) = RX DIR2 oli enne PA2
 EncoderData enc6Data = {PB_5, PB_4, 102.083 * 64};
 EncoderMotor m6(m6Data, enc6Data, speedPIDData, turnPIDData, NULL); 
 DigitalIn s6(PB_10);
@@ -89,26 +89,35 @@
     
     ticker.attach(&tick, tickTime);
     
-    float rot, speed;
+    float volatile rot, speed;
+    
+    speed = 1.0;
     
     while(1)
     {
-        /*int oldactive = active;
+        int oldactive = active;
         pc.scanf("%d", &active);//, speed);
-        //active--;
-        ms[oldactive]->drive(0);
-        ms[active]->drive(0.25);
-        *//*
+        if (active == 0){
+            speed = speed * (-1);
+            active = oldactive;
+            }
+        else{
+            active--;
+            ms[oldactive]->drive(0);
+            ms[active]->drive(speed);
+        }
         //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);