Diff: main.cpp

Revision:

12:84a6dcb60422

Parent:

11:4eb579687dda

Child:

13:3a1f4e09789b

--- a/main.cpp	Wed Aug 26 02:49:40 2020 +0000
+++ b/main.cpp	Wed Aug 26 14:37:19 2020 +0000
@@ -4,7 +4,6 @@
 #include "ExperimentServer.h"
 #include "QEI.h"
 #include "MotorShield.h" 
-#include "HardwareSetup.h"
 
 #define NUM_INPUTS 2
 #define NUM_OUTPUTS 3
@@ -23,7 +22,7 @@
 AnalogIn currentC(PF_13); //MOTOR C CURRENT SENSOR 
 AnalogIn currentD(PA_4);  //MOTOR D CURRENT SENSOR 
 
-MotorShield motors(1000); //initialize the motor shield with a period of 1000 ticks or xxx kHZ
+MotorShield motorShield(12000); //initialize the motor shield with a period of 12000 ticks or ~20kHZ
 
 int main (void)
 {
@@ -37,8 +36,8 @@
     
     while(1) {
         if (server.getParams(input_params,NUM_INPUTS)) {
-            float v1   = input_params[0]; // Voltage for first second
-            float v2   = input_params[1]; // Voltage for second second
+            float v1   = input_params[0]; // Duty cycle for first second
+            float v2   = input_params[1]; // Duty cycle for second second
 
             // Setup experiment
             t.reset();
@@ -48,15 +47,15 @@
             encoderC.reset();
             encoderD.reset();
 
-            motors.motorAWrite(0, 0); //turn motor A off, motors.motorAWrite(DUTY CYCLE, DIRECTION), DIRECTION = 0 is forward 
+            motorShield.motorAWrite(0, 0); //turn motor A off, motorShield.motorAWrite(DUTY CYCLE, DIRECTION), DIRECTION = 0 is forward 
 
             // Run experiment
             while( t.read() < 2 ) {
                 // Perform control loop logic
                 if (t.read() < 1)
-                    motors.motorAWrite(v1, 0); //run motor A at "v1" duty cycle and in the forward direction 
+                    motorShield.motorAWrite(v1, 0); //run motor A at "v1" duty cycle and in the forward direction 
                 else
-                    motors.motorAWrite(v2, 0); //run motor A at "v2" duty cycle and in the forward direction 
+                    motorShield.motorAWrite(v2, 0); //run motor A at "v2" duty cycle and in the forward direction 
 
                 // Form output to send to MATLAB
                 float output_data[NUM_OUTPUTS];
@@ -70,7 +69,7 @@
             }
             // Cleanup after experiment
             server.setExperimentComplete();
-            motors.motorAWrite(0, 0); //turn motor A off
+            motorShield.motorAWrite(0, 0); //turn motor A off
         } // end if
     } // end while