Diff: main.cpp

Revision:

1:ec9cd1ae6f86

Parent:

0:50670948e4d6

Child:

2:7f9d0d59c7f5

--- a/main.cpp	Fri Aug 01 21:44:44 2014 +0000
+++ b/main.cpp	Thu Feb 05 16:57:02 2015 +0000
@@ -28,12 +28,10 @@
 
 
 /*  VNH2SP30 pin definitions */
-DigitalOut inLeftApin(D7, LOW);  // INA: Clockwise input
-DigitalOut inRightApin(D4, LOW);  // INA: Clockwise input
-DigitalOut inLeftBpin(D8, LOW); // INB: Counter-clockwise input
-DigitalOut inRightBpin(D9, LOW); // INB: Counter-clockwise input
-PwmOut pwmLeftpin(PB_4); // PWM input
-PwmOut pwmRightpin(PB_10); // PWM input
+DigitalOut dirA(D12, LOW);  // INA: Clockwise input
+DigitalOut dirB(D13, LOW); // INB: Counter-clockwise input
+PwmOut pwmLeftpin(PA_7); // PWM input
+PwmOut pwmRightpin(PB_3); // PWM input
 AnalogIn csLeftpin(A2); // CS: Current sense ANALOG input
 AnalogIn csRightpin(A3); // CS: Current sense ANALOG input
 AnalogIn enLeftpin(A0); // EN: Status of switches output (Analog pin)
@@ -62,15 +60,11 @@
 
 void stopLeftMotor()
 {
-        inLeftApin.write(LOW);
-        inLeftBpin.write(LOW);
         pwmLeftpin.write(0.0f);
 }
 
 void stopRightMotor()
 {
-        inRightApin.write(LOW);
-        inRightBpin.write(LOW);
         pwmRightpin.write(0.0f);
 }
 
@@ -98,14 +92,14 @@
     if (direct <=4)
     {
       if (direct <=1)
-        inLeftApin.write(HIGH);
+        dirA.write(HIGH);
       else
-        inLeftApin.write(LOW);
+        dirA.write(LOW);
 
       if ((direct==0)||(direct==2))
-        inLeftBpin.write(HIGH);
+        dirB.write(HIGH);
       else
-        inLeftBpin.write(LOW);
+        dirB.write(LOW);
 
         pwmLeftpin.write(percent);
     }
@@ -116,14 +110,14 @@
     if (direct <=4)
     {
       if (direct <=1)
-        inRightApin.write(HIGH);
+        dirA.write(HIGH);
       else
-        inRightApin.write(LOW);
+        dirA.write(LOW);
 
       if ((direct==0)||(direct==2))
-        inRightBpin.write(HIGH);
+        dirB.write(HIGH);
       else
-        inRightBpin.write(LOW);
+        dirB.write(LOW);
 
         pwmRightpin.write(percent);
     }