Revision 54:bd5b586aa2e1, committed 2019-03-22

Comitter:

iachinweze1

Date:

Fri Mar 22 23:47:51 2019 +0000

Parent:

53:89d16b398615

Child:

55:e8b15b4b875f

Commit message:

Final commit

Changed in this revision

--- a/main.cpp	Fri Mar 22 23:42:55 2019 +0000
+++ b/main.cpp	Fri Mar 22 23:47:51 2019 +0000
@@ -137,7 +137,6 @@
 
             _motor_pos = 0; 
 
-
             _modeBitField = 0x01;                                       // Default velocity mode
 
             _pc.printf("\n\r%s %d\n\r>", "Welcome", _MAXCMDLENGTH );                    // Welcome                                       
@@ -181,8 +180,6 @@
                         
                         _inCharIndex = 0;                               // Reset index  
                         cmdParser();
-
-                        // _tCommIn.signal_wait(0x01);
                     }
                 }
             }
@@ -400,8 +397,6 @@
 
         
 };
-// char Comm::_inCharQ[] = {'.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','.','\0'}; // Static member must be defined outside class
-//Mutex Comm::_newKeyMutex;
 
 class Motor {
 
@@ -411,24 +406,27 @@
                         _stateList[6],                                  // All possible rotor states stored
                         _lead;                                          // Phase _lead to make motor spin
 
+                int8_t          old_rotor_state; 
+
         uint8_t         _theStates[3],                                  // The Key states
-                        _stateCount[3];                                 // State Counter
+                        _stateCount[3],                                 // State Counter
+                        encState;
+
         uint32_t        _mtrPeriod,                                      // Motor period
-                        _MAXPWM_PRD;
+                        _MAXPWM_PRD,
+                        quadratureStates,
+                        MINPWM_PRD,
+                        maxEncCount,
+                        encCount,
+                        encTotal,
+                        badEdges; 
+
         float           _dutyC;                                         // 1 = 100%
         bool            _RUN;
 
         Comm*           _pComm;
         Thread          _tMotorCtrl;                                    // Thread for motor Control
 
-        int8_t old_rotor_state; 
-        uint8_t encState;
-        uint32_t quadratureStates;
-       uint32_t MINPWM_PRD; 
-        uint32_t maxEncCount;
-        uint32_t encCount;
-        uint32_t encTotal;        
-        uint32_t badEdges;
 
     public:
         //-- Default Constructor With Thread Object Constructor -------------------------------------------------------------//
@@ -835,7 +833,7 @@
                 pwmCtrl.pulsewidth_us(torque);
                 // _pComm->_pc.printf("EError:%.4f, tot:%d, encRemain:%.4f || RError:%.4f || SError:%.4f, CSpeed:%f, Torque:%i\r\n", eError, encTotal, encRemain, rError, sError, (cur_speed/6.0f), torque);
                 //_pComm->_pc.printf("EError:%.4f, remain:%.4f, tot%d || RError:%.4f || Torque:%i \r\n", eError, encRemain, encTotal, rError, torque);
-                _pComm->_pc.printf("RError:%.4f\r\n", rError); 
+                // _pComm->_pc.printf("RError:%.4f\r\n", rError); 
 
 
                 // Give the motor a kick