Diff: main.cpp

Revision:

4:86927e61e1e3

Parent:

3:34a763e93423

Child:

5:5d34a8feffe2

--- a/main.cpp	Sun May 07 01:31:52 2017 +0000
+++ b/main.cpp	Tue May 09 01:08:59 2017 +0000
@@ -6,15 +6,19 @@
 #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
+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
+IRSensor testIR_TOP1(PC_6, PA_7); //emmiter and receiver TOP LEFT sensor
+IRSensor testIR_TOP2(PB_10, PA_6); //emmiter and receiver TOP RIGHT sensor
+IRSensor testIR_DIAG_LEFT(PC_7, PC_4); //emmiter and receiver DIAG LEFT sensor
+IRSensor testIR_DIAG_RIGHT(PB_1, PA_5); //emmiter and receiver DIAG RIGHTsensor
  DigitalOut testLed(PB_12);
  DigitalOut testLed2(PB_13);
  DigitalOut testLed3(PB_14);
  DigitalOut testLed4(PB_15);
  AnalogIn Ain(PA_3);
 //Motor leftMotor(PB_7, PB_6);
-
+//Motor rightMotor(PB_9, PB_8);
 // pwm
 PwmOut motor_pwm_left_sig(PB_7);
 DigitalOut dir_left(PB_6);
@@ -23,7 +27,7 @@
 DigitalOut dir_right(PB_8);
 
 
-//Motor rightMotor(PB_9, PB_8);
+
 Encoder leftEncoder(PC_9, PC_8);
  
  int main ()
@@ -31,19 +35,42 @@
      serial.printf ("Start Program\n");
      //leftMotor = 0.1f;
      
+
+//         motor_pwm_left_sig.period(0.001f); 
+//         motor_pwm_left_sig.write(0.2f);
+//         motor_pwm_right_sig.period(0.001f); 
+//         motor_pwm_right_sig.write(0.6f);
+//         dir_left = 0;
+//         dir_right = 1;
+//         
+//         wait(7);
+//         motor_pwm_right_sig = 0;
+//         dir_right = 0;
+//         motor_pwm_left_sig = 0;
+         
+
+     
+     
      while (1)
      {
         testLed2 = 1; 
+        testLed3 = 1;
          wait (0.2);
-         testLed2 = 0; 
+         testLed2 = 0;
+         testLed3 = 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("Left sensor: %f\r\n", testIR_LEFT.readIR());
+//         serial.printf("Left Diagnal %f\r\n", testIR_DIAG_LEFT.readIR());
+         serial.printf("TOP LEFT %f\r\n", testIR_TOP1.readIR());
+         serial.printf("TOP RIGHT %f\r\n", testIR_TOP2.readIR());
+//         serial.printf("Right Diagnal %f\r\n", testIR_DIAG_RIGHT.readIR());
+//         serial.printf("Right sensor: %f\r\n", testIR_RIGHT.readIR());
+         wait(1);
+         
+//         leftMotor.speed(0.4f);
+//         rightMotor.speed(-0.3f);
+
         //serial.printf("start");
          
         // for (int i = 0; i < 3; i++) {
@@ -58,7 +85,7 @@
          //}
          
          
-         serial.printf("voltage value is: %3.3f%%\r\n", Ain.read()*100.0f);
+         //serial.printf("voltage value is: %3.3f%%\r\n", Ain.read()*100.0f);
          //serial.printf("normalized: 0x%04X \r\n", Ain.read_u16());
 
          if(Ain.read() < 0.67f){
@@ -69,7 +96,7 @@
              serial.printf("voltage is in danger area, UNPLUG\r\n");
          }
        
-         //int dist = leftEncoder.getEncoderDistance();
-         serial.printf("Encoder %d \r\n", getEncoderDistance());        
+         int dist = getEncoderDistance();
+         //serial.printf("Encoder %d \r\n", getEncoderDistance());        
      }
  } 
\ No newline at end of file