Diff: main.cpp

Revision:

21:4095a071724d

Parent:

20:8475768fc2f7

Child:

22:e86d63dfbbe1

--- a/main.cpp	Fri May 31 06:32:07 2013 +0000
+++ b/main.cpp	Fri Jun 07 05:01:40 2013 +0000
@@ -10,7 +10,7 @@
 DigitalIn directionPin(p15);    //green
 
 void processSerial();
-Timer timer_v;          // for shearing        //for send the speed on the serial port every 30 ms:
+//Timer timer_v;          // for shearing        //for send the speed on the serial port every 30 ms:
 LocalFileSystem local("local");
 //Serial pc(USBTX, USBRX);
 
@@ -49,14 +49,13 @@
 */
 
 ////for culculate rotary velocity --------------------------------------------------------
-
-volatile float angleIncrement = 2.0*PI / 1024; // when in Sign/Magnitude mode
-float radious = 700, attachSecond = 10000;
+int radious = 700, attachSecond = 500;
+/*volatile float*/int  angleIncrement = 1 ;//2.0*PI / 2500; // when in Sign/Magnitude mode
 
 // a ticker function to compute the speed periodically-------------------------------------------------------------
 #define PERIODIC_COMPUTE 10000 // in us
 volatile float angularSpeed = 0;
-volatile float angle=0, oldAngle=0;
+/*volatile float*/ int angle=0, oldAngle=0;
 Ticker speedTimerCompute;
 Ticker superEncoder;
 
@@ -75,6 +74,7 @@
     oldAngle=angle;
     myRender.updateSpeed(angularSpeed,angle);
     void processSerial();
+    
 }
 
 
@@ -110,7 +110,7 @@
     oldAngle=angle=0;
 
     // Attach the external interrupt routine----------------------------------------------------------------------
-    superEncoder.attach_us(&encoderClock, 111);
+    superEncoder.attach_us(&encoderClock, 500);
     //clockEncoderPin.rise(&encoderClock);
     //clockEncoderPin.fall(&encoderClock);
 
@@ -128,7 +128,7 @@
     wait_ms(100);
 
 
-    timer_v.start();
+    //timer_v.start();
     // MAIN LOOP: --------------------------------------------------------------------------------------------
     while(1) {
         if (pc.readable()>0) processSerial();
@@ -171,7 +171,7 @@
                 stringData[indexStringData] = 0;
                 X = atoi(stringData);
                 indexStringData=0;
-                vx = ((float)X-(float)beforeX) / (float)timer_v.read_us() *1000;
+                //vx = ((float)X-(float)beforeX) / (float)timer_v.read_us() *1000;
             }
 
             else if (val == 'Y') {
@@ -182,7 +182,7 @@
                 //timer_v.stop();
                 //newSpeedReady = true;
                 //if( (Y-beforeY) > 5){
-                vy = ((float)Y-(float)beforeY) / (float)timer_v.read_us() *1000;
+                //vy = ((float)Y-(float)beforeY) / (float)timer_v.read_us() *1000;
                 
                 myRender.updateSpeed(vx, vy);
                 
@@ -205,15 +205,21 @@
                 pc.printf("shearingSwitch : %d \n" , myRender.shearingSwitch);
                 indexStringData=0;
                 //makeBuffer();
-            } else if (val == 'R') {
+            } else if (val == 'A') {
                 stringData[indexStringData] = 0;
-                radious = atoi(stringData);
+                angleIncrement = atoi(stringData);
+                pc.printf("angleIncrement : %d \n" , angleIncrement);
+                superEncoder.detach();
+                superEncoder.attach_us(&encoderClock, attachSecond);
                 indexStringData=0;
                 //makeBuffer();
             } else if (val == 'T') {
                 stringData[indexStringData] = 0;
                 attachSecond = atoi(stringData);
                 pc.printf("attachSecond : %d \n" , attachSecond);
+                
+                superEncoder.detach();
+                superEncoder.attach_us(&encoderClock, attachSecond);
                 indexStringData=0;
                 //makeBuffer();
             }