Diff: main.cpp

Revision:

16:792055c232a5

Parent:

15:dddb511c39b4

Child:

17:5e27edd3d8e6

--- a/main.cpp	Wed Apr 13 18:56:08 2016 +0000
+++ b/main.cpp	Wed Apr 13 19:09:10 2016 +0000
@@ -42,7 +42,6 @@
 
     phaseC.write(pwmDuty);
     phaseCEN = 1;
-//    redLed = ! redLed;
     revCount++;
 }
 
@@ -73,7 +72,6 @@
     phaseBEN = 1;
 
     phaseCEN = 1;
-//    redLed = ! redLed;
 }
 
 void Arise()    //state5, A- B+ C0
@@ -106,24 +104,41 @@
     int h2 = hallB.read();
     int h3 = hallC.read();
     //check where we start
-    if(h1 == 0 && h2 == 1 && h3 == 1) { //state1
-//        Brise();
-        Afall();
-    } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2
-//        Afall();
-        Crise();
-    } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3
-//        Crise();
-        Bfall();
-    } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4
-//        Bfall();
-        Arise();
-    } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5
-//        Arise();
-        Cfall();
-    } else { //(h1 == 0 && h2 == 1 && h3 == 0)state6
-//        Cfall();
-        Brise();
+    
+    if (reverse == 0)
+    {
+        if(h1 == 0 && h2 == 1 && h3 == 1) { //state1
+            Afall();
+        } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2
+            Crise();
+        } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3
+            Bfall();
+        } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4
+            Arise();
+        } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5
+            Cfall();
+        } else { //(h1 == 0 && h2 == 1 && h3 == 0)state6
+            Brise();
+        }
+    }
+    else if (reverse == 1)
+    {
+        // A -> C
+        // B -> A
+        // C -> B
+        if(h1 == 0 && h2 == 1 && h3 == 1) { //state1
+            Cfall();
+        } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2
+            Brise();
+        } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3
+            Afall();
+        } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4
+            Crise();
+        } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5
+            Bfall();
+        } else { //(h1 == 0 && h2 == 1 && h3 == 0) state6
+            Arise();
+        }
     }
     toggleRedLed();
 }
@@ -133,34 +148,13 @@
     if(stall == 0) {
         stall = 1;
     } else {
-        jumpStart();
-//        if(reverse == 1)    //switch to forward
-//        {
-//            hallA.fall(&Afall);
-//            hallA.rise(&Arise);
-//            hallB.fall(&Bfall);
-//            hallB.rise(&Brise);
-//            hallC.fall(&Cfall);
-//            hallC.rise(&Crise);
-//            redLed = !redLed;
-//            reverse = 0;
-//        }
-//        else if(reverse == 0)    //switch to reverse
-//        {
-//            hallA.fall(&Bfall);
-//            hallA.rise(&Brise);
-//            hallB.fall(&Cfall);
-//            hallB.rise(&Crise);
-//            hallC.fall(&Afall);
-//            hallC.rise(&Arise);
-//            redLed = !redLed;
-//            reverse = 1;
-//        }
+        if (pwmDuty < 0.2f)
+        {
+            reverse = reverse ^ 1;
+        }
     }
 }
 
-
-
 int main()
 {
     //wait until button push to start
@@ -184,16 +178,9 @@
     phaseAEN = 0;
     phaseBEN = 0;
     phaseCEN = 0;
-    //begin sensored mode
-//    hallA.fall(&Afall);
-//    hallA.rise(&Arise);
-//    hallB.fall(&Bfall);
-//    hallB.rise(&Brise);
-//    hallC.fall(&Cfall);
-//    hallC.rise(&Crise);
 
     spinTicker.attach_us(&jumpStart, 50);
-    float ADCSum = 0;;
+    float ADCSum = 0;
     int ADCCount = 0;
     while(1) {
         led = !led;
@@ -205,7 +192,7 @@
             ADCCount = 0;
         }
         if(rpmPrintFlag == 1) {
-            printf("%d rpm; %f duty\r\n", currentRPM, pwmDuty);
+            printf("%d rpm; %f duty; reverse: %d\r\n", currentRPM, pwmDuty, reverse);
             rpmPrintFlag = 0;
         }
         wait(0.05);