Diff: main.cpp

Revision:

3:2bcc36fe4de5

Parent:

2:0fbba327c44f

Child:

4:ab4d51b5b1c8

--- a/main.cpp	Wed Apr 06 19:45:47 2016 +0000
+++ b/main.cpp	Wed Apr 06 20:01:18 2016 +0000
@@ -29,6 +29,8 @@
     phaseAEN = 0;
     phaseBEN = 1;
     
+    phaseC.write(pwmDuty);
+    phaseCEN = 1;
     redLed = ! redLed;
 }
 
@@ -38,12 +40,17 @@
     phaseC.write(0);
     phaseA.write(pwmDuty);
     phaseAEN = 1;
+    
+    phaseBEN = 1;
 }
 
 void Arise()    //state3, A+ B0 C-
 {
     phaseBEN = 0;
     phaseCEN = 1;
+    
+    phaseA.write(pwmDuty);
+    phaseAEN = 1;
 }
 
 void Cfall()    //state4, A0 B+ C-
@@ -53,6 +60,7 @@
     phaseB.write(pwmDuty);
     phaseBEN = 1;
     
+    phaseCEN = 1;
     redLed = ! redLed;
 }
 
@@ -60,6 +68,9 @@
 {
     phaseCEN = 0;
     phaseAEN = 1;
+    
+    phaseB.write(pwmDuty);
+    phaseBEN = 1;
 }
 
 void Afall()    //state5, A- B0 C+
@@ -68,6 +79,8 @@
     phaseB.write(0);
     phaseC.write(pwmDuty);
     phaseCEN = 1;
+    
+    phaseAEN = 1;
 }
 
 int count = 0;
@@ -120,38 +133,43 @@
         led = !led;
         wait(2);
     }
+    button.detach();
 
-    //startup with open loop
+//    //startup with open loop
+//    phaseA.period_us(10);
+//    phaseB.period_us(10);
+//    phaseC.period_us(10);
+//    interrupt.attach(&intcall, .01);
+//
+//    
+//    phaseA.write(0);
+//    phaseB.write(pwmDuty);
+//    phaseC.write(0);    
+//    
+//    phaseAEN = 0;
+//    phaseBEN = 1;
+//    phaseCEN = 1;
+//    
+//    for(int i = 0; i < 4; i++)
+//    {
+//        i++;
+//        led = !led;
+//        wait(0.5);
+//    }
+//    interrupt.detach();
+
     phaseA.period_us(10);
     phaseB.period_us(10);
     phaseC.period_us(10);
-    interrupt.attach(&intcall, .01);
-
     
     phaseA.write(0);
-    phaseB.write(pwmDuty);
+    phaseB.write(0);
     phaseC.write(0);    
     
     phaseAEN = 0;
-    phaseBEN = 1;
-    phaseCEN = 1;
-    
-    for(int i = 0; i < 4; i++)
-    {
-        i++;
-        led = !led;
-        wait(0.5);
-    }
-    interrupt.detach();
-    //begin sensored mode
-
-//    hallA.fall(&Arise);
-//    hallA.rise(&Afall);
-//    hallB.fall(&Brise);
-//    hallB.rise(&Bfall);
-//    hallC.fall(&Crise);
-//    hallC.rise(&Cfall);  
-
+    phaseBEN = 0;
+    phaseCEN = 0;
+    //begin sensored mode 
     hallA.fall(&Afall);
     hallA.rise(&Arise);
     hallB.fall(&Bfall);
@@ -159,6 +177,40 @@
     hallC.fall(&Cfall);
     hallC.rise(&Crise); 
     
+    int h1 = hallA.read();
+    int h2 = hallB.read();
+    int h3 = hallC.read();
+    //check where we start
+    if(h1 == 0 && h2 == 1 && h3 == 1)   //state1
+    {
+        Crise();
+        Bfall();
+    }
+    else if(h1 == 0 && h2 == 0 && h3 == 1)  //state2
+    {
+        Bfall();
+        Arise();
+    }
+    else if(h1 == 1 && h2 == 0 && h3 == 1)  //state3
+    {
+        Arise();
+        Cfall();
+    }
+    else if(h1 == 1 && h2 == 0 && h3 == 0)     //state4
+    {
+        Cfall();
+        Brise();
+    }
+    else if(h1 == 1 && h2 == 1 && h3 == 0)  //state5
+    {
+        Brise();
+        Crise();
+    }
+    else    //state6
+    {
+        Afall();
+    } 
+    
     while(1) {
         led = !led;
         wait(0.2);