Diff: main.cpp

Revision:

2:61ec30f77bc3

Parent:

1:c533a17dccc0

Child:

3:4b8ecd83d8f1

--- a/main.cpp	Sat Jan 10 06:25:14 2015 +0000
+++ b/main.cpp	Sun Jan 11 08:28:16 2015 +0000
@@ -5,7 +5,15 @@
 DigitalIn   MotorDirectionSw(p6);
 DigitalOut  MotorDirectionOut(p7);
 
+//Add push SW
+DigitalIn   WestPushSw(p8);
+DigitalIn   EastPushSw(p9);
+
 int main() {
+    //Add
+    int PreStateWest = 1;
+    int PreStateEast = 1;
+    
     MotorSpeedSw.mode(PullUp);
     MotorDirectionSw.mode(PullUp);
     //Dorection
@@ -18,7 +26,47 @@
     else {                     //Half Speed
         PulseMotor.period_us(83140*2);
         PulseMotor.pulsewidth_us((83140*2)/2);
-    } 
+    }
+    
+    //Add
+    WestPushSw.mode(PullUp);
+    EastPushSw.mode(PullUp);
+     
     while(1) {
+        if (WestPushSw != PreStateWest) {
+            if (WestPushSw == 0) {
+                //pushed West SW
+                //double speed
+                PulseMotor.period_us(83140/2);
+                PulseMotor.pulsewidth_us((83140/2) /2);
+            }
+            else {
+                //relese West SW
+                //normal speed
+                PulseMotor.period_us(83140);
+                PulseMotor.pulsewidth_us(83140 /2);
+            }
+        }
+        if (EastPushSw != PreStateEast) {
+            if (EastPushSw == 0) {
+                //pushed East SW
+                //Stop
+                PulseMotor.period_us(83140);
+                PulseMotor.pulsewidth_us(0);
+            }
+            else {
+                //relese East SW
+                //normal speed
+                PulseMotor.period_us(83140);
+                PulseMotor.pulsewidth_us(83140 /2);
+            }
+        }
+        //Save SW state
+        PreStateWest = WestPushSw;
+        PreStateEast = EastPushSw;
+        
+        wait(0.01);
     }
 }
+
+