Revision 31:b10ca6cf39bf, committed 2019-03-18

Comitter:

adehadd

Date:

Mon Mar 18 17:00:11 2019 +0000

Parent:

30:fbae0e5f200d

Child:

32:fc5e00d9f74d

Commit message:

anti-fml

Changed in this revision

--- a/main.cpp	Mon Mar 18 16:24:55 2019 +0000
+++ b/main.cpp	Mon Mar 18 17:00:11 2019 +0000
@@ -341,12 +341,11 @@
 };
 
 
-
 class Motor {
 
 
 protected:
-    const int8_t orState;            //Rotor offset at motor state 0, motor specific
+    int8_t orState;            //Rotor offset at motor state 0, motor specific
     volatile int8_t currentState;    //Current Rotor State
     volatile int8_t stateList[6];    //All possible rotor states stored
 
@@ -366,7 +365,7 @@
 
 public:
 
-    Motor() : t_motor_ctrl(osPriorityAboveNormal, 1024) 
+    Motor() : t_motor_ctrl(osPriorityAboveNormal, 1024)
     {
         // Set Power to maximum to drive motorHome()
         dutyC = 1;
@@ -384,14 +383,15 @@
 
         lead = 2;  //2 for forwards, -2 for backwards
        
-        stateCount = 0;
-
-        // p_comm = null; // null pointer for now
+        stateCount[0] = 0; stateCount[1] = 0; stateCount[2] = 0;
+        theStates[0] = 0; theStates[1] = 0; theStates[2] = 0;
+        
+        p_comm = NULL; // null pointer for now
 
     }
 
 
-    void motorStart(Comm &comm) {
+    void motorStart(Comm *comm) {
 
         // Establish Photointerrupter Service Routines (auto choose next state)
         I1.fall(callback(this, &Motor::stateUpdate));
@@ -410,7 +410,9 @@
         pwmCtrl.pulsewidth(mtrPeriod*dutyC);
 
         // Start motor control thread
-        t_motor_ctrl.start(callback(this, &Comm::motorCtrlFn));
+        t_motor_ctrl.start(callback(this, &Motor::motorCtrlFn));
+
+        p_comm = comm;
     }
 
         //Set a given drive state
@@ -456,17 +458,14 @@
         currentState = readRotorState();
 
         // Store into state counter
-        switch (currentState) {
-        case 1:
+        if (currentState == theStates[0])
             stateCount[0]++; 
-            break; 
-        case (1 + lead): 
+        else if (currentState == theStates[1])  
             stateCount[1]++; 
-            break; 
-        case (1 + (lead*2)):
+        else if (currentState == theStates[2]) 
             stateCount[2]++; 
-            break; 
-        }
+
+
         // (Current - Offset + lead + 6) %6
         motorOut((currentState - orState + lead + 6) % 6);
 
@@ -477,10 +476,10 @@
     // attach_us -> runs funtion every 100ms 
     void motorCtrlFn() {
         Ticker motorCtrlTicker;
-        motorCtrlTicker.attach_us(callback(this,&Comm::motorCtrlTick), 1e5);
+        motorCtrlTicker.attach_us(callback(this,&Motor::motorCtrlTick), 1e5);
         while (1) {
             t_motor_ctrl.signal_wait((int32_t)0x1);
-            pc.printf("B4115"); 
+            p_comm->pc.printf("B4115"); 
         }
     }
 
@@ -492,6 +491,7 @@
 
 
 
+
 //Main
 int main() {
 
@@ -518,6 +518,7 @@
     uint32_t hashCounter = 0;
     Timer timer;
 
+    motor.motorStart(&comm_plz);
     comm_plz.start_comm();
 
     // Motor States