Diff: main.cpp

Revision:

3:34a763e93423

Parent:

2:b78dfa2afe92

Child:

4:86927e61e1e3

--- a/main.cpp	Sat May 06 23:10:06 2017 +0000
+++ b/main.cpp	Sun May 07 01:31:52 2017 +0000
@@ -3,8 +3,8 @@
 */
 #include "mbed.h"
 #include "IRSensor.h"
-//#include "encoder.h"
-#include "motor.h"
+#include "encoder.h"
+//#include "motor.h"
  Serial serial (PA_9, PA_10);
  //IRSensor testIR_RIGHT(PB_0, PA_4); //emmiter and receiver right most sensor
 // IRSensor testIR_LEFT(PA_8, PC_5); //emmiter and receiver left most sensor
@@ -14,8 +14,17 @@
  DigitalOut testLed4(PB_15);
  AnalogIn Ain(PA_3);
 //Motor leftMotor(PB_7, PB_6);
-Motor rightMotor(PB_9, PB_8);
-//Encoder leftEncoder(PC_9, PC_8);
+
+// pwm
+PwmOut motor_pwm_left_sig(PB_7);
+DigitalOut dir_left(PB_6);
+//// dir
+PwmOut motor_pwm_right_sig(PB_9);
+DigitalOut dir_right(PB_8);
+
+
+//Motor rightMotor(PB_9, PB_8);
+Encoder leftEncoder(PC_9, PC_8);
  
  int main ()
  {
@@ -28,15 +37,24 @@
          wait (0.2);
          testLed2 = 0; 
          wait (0.2); 
+//         
+         motor_pwm_left_sig.period(0.001f); 
+         motor_pwm_left_sig.write(0.3f);
+         motor_pwm_right_sig.period(0.001f); 
+         motor_pwm_right_sig.write(0.5f);
+         dir_left = 1;
+         dir_right = 1;
+        //serial.printf("start");
+         
         // for (int i = 0; i < 3; i++) {
-//            leftMotor.speed(0);
-            rightMotor.speed(-0.02f);
+ //           leftMotor.speed(0.15f);
+ //           rightMotor.speed(0.15f);
 //            rightMotor.dir
             
        //     leftMotor.stop();
-//            rightMotor.stop();
-//            serial.printf("Left Motor speed is at: %f \n", leftMotor.read());    
-            serial.printf("Right Motor speed is at: %f \n", rightMotor.read());
+        //    rightMotor.stop();
+ //           serial.printf("Left Motor speed is at: %f \n", leftMotor.read());    
+ //           serial.printf("Right Motor speed is at: %f \n", rightMotor.read());
          //}
          
          
@@ -52,6 +70,6 @@
          }
        
          //int dist = leftEncoder.getEncoderDistance();
-         //serial.printf("Encoder %d \r\n", getEncoderDistance());        
+         serial.printf("Encoder %d \r\n", getEncoderDistance());        
      }
  } 
\ No newline at end of file