2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Diff: main.cpp

Revision:
39:c05074379713
Parent:
38:11753ee9734f
Child:
40:8e33c60c6590
--- a/main.cpp	Tue Oct 24 10:19:51 2017 +0000
+++ b/main.cpp	Thu Oct 26 02:04:02 2017 +0000
@@ -23,10 +23,10 @@
 DigitalIn SLCTSW[3] = {p19, p20, p21};
 InterruptIn rightMotorPulse(p22);
 InterruptIn leftMotorPulse(p23);
-InterruptIn rightTirePulse1(p24);
-InterruptIn rightTirePulse2(p25);
-InterruptIn leftTirePulse1(p26);
-InterruptIn leftTirePulse2(p27);
+InterruptIn rightWheelPulse1(p24);
+InterruptIn rightWheelPulse2(p25);
+InterruptIn leftWheelPulse1(p26);
+InterruptIn leftWheelPulse2(p27);
 DigitalOut WDT(p28);
 CAN can(p30, p29);
 DigitalOut LED[] = {LED1, LED2, LED3, LED4};
@@ -86,10 +86,10 @@
 
     rightMotorPulse.mode(PullNone);
     leftMotorPulse.mode(PullNone);
-    rightTirePulse1.mode(PullNone);
-    rightTirePulse2.mode(PullNone);
-    leftTirePulse1.mode(PullNone);
-    leftTirePulse2.mode(PullNone);
+    rightWheelPulse1.mode(PullNone);
+    rightWheelPulse2.mode(PullNone);
+    leftWheelPulse1.mode(PullNone);
+    leftWheelPulse2.mode(PullNone);
 
     can.frequency(500000);      //500kHz
 
@@ -99,15 +99,15 @@
 
 int main(void)
 {
-    char canBrake[CANDATANUM_BRAKE]= {0};
+//    char canBrake[CANDATANUM_BRAKE]= {0};
     char canRequestTorque[CANDATANUM_REQTRQ]= {0};
     char canMotorTorqueR[CANDATANUM_MOTORTRQ]= {0};
     char canMotorTorqueL[CANDATANUM_MOTORTRQ]= {0};
     char canSteer[CANDATANUM_STEERING]= {0};
-    char canMotorSpeed[CANDATANUM_MOTORSPEED]= {0};
-    char canWheelSpeed[CANDATANUM_WHEELSPEED]= {0};
+//    char canMotorSpeed[CANDATANUM_MOTORSPEED]= {0};
+//    char canWheelSpeed[CANDATANUM_WHEELSPEED]= {0};
     char canVehicleSpeed[CANDATANUM_VEHICLESPEED]= {0};
-    char canTorqueDistribution[CANDATANUM_DISTRQ]= {0};
+//    char canTorqueDistribution[CANDATANUM_DISTRQ]= {0};
 
     int canWriteSucceeded = 0;
 
@@ -148,7 +148,7 @@
         writeCanBuff(getMotorTorque(RIGHT), canMotorTorqueR, CANDATANUM_MOTORTRQ);
         writeCanBuff(getMotorTorque(LEFT), canMotorTorqueL, CANDATANUM_MOTORTRQ);
 
-//        printf("%d\r\n", getSteerAngle());
+        printf("%d\r\n", getRPS(RIGHT, 1));
 
         do {
             if(canWriteSucceeded != 0b11111) {