Diff: main.cpp

Revision:

6:68cb6e3d9623

Parent:

5:f21e1a75f98b

Child:

7:459f81b0b6c6

--- a/main.cpp	Mon Dec 20 14:13:29 2021 +0000
+++ b/main.cpp	Mon Dec 20 23:24:35 2021 +0000
@@ -12,7 +12,7 @@
 #include "hcsr04.h"
 
 #define RPM_RIDE 400
-#define RPM_CLEAN 400
+#define RPM_CLEAN 200
 #define ACC_RIDE 1000
 #define DEC_RIDE 700
 #define ACC_CLEAN 1000
@@ -24,7 +24,7 @@
 #define WALL 45
 #define WALL_MIN 25
 #define Standby_Time 10
-#define GETOFF_TIME 3
+#define GETOFF_TIME 1
  
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
@@ -35,9 +35,9 @@
 double Time = 0;
 
 Serial pc(USBTX, USBRX);
-Serial LED(PB_6,PB_7);
 char Serialdata;
-BusOut myled(LED1, LED2, LED3, LED4);
+BusOut LED(PA_4,PB_6,PB_7,PA_9);
+
  
 //HCSR04 u1(p13, p14), u2(p11, p12), u3(p23, p24), u4(p25, p26); // Trigger(DO), Echo(PWMIN); LPC1768
 HCSR04 u1(PA_0, PA_1),u2(PA_5, PA_6),u3(PB_0, PA_10); // Trigger(DO), Echo(PWMIN); f303k8
@@ -199,8 +199,7 @@
     while(1){
                 
         Time = t.read();
-        pc.printf("state_1:%d  state_2:%d\r\n",state_1,state_2);
-        LED.printf("%d",state_1);          
+        pc.printf("state_1:%d  state_2:%d\r\n",state_1,state_2);         
         readActPos(1);
         ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
         if(ActPos > 8388608){