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Update main.cpp #1

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26 changes: 13 additions & 13 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,10 +39,10 @@ void isrB() {
void setup() {
Serial.begin(115200);

// Set all the motor control pins to outputs
pinMode(pwmPin, OUTPUT);
pinMode(enableForwardPin, OUTPUT);
pinMode(enableBackwardPin, OUTPUT);
// Set all the motor control pins to outputs
pinMode(pwmPin, OUTPUT);
pinMode(enableForwardPin, OUTPUT);
pinMode(enableBackwardPin, OUTPUT);

pinMode(encoderPinA, INPUT_PULLUP);
pinMode(encoderPinB, INPUT_PULLUP);
Expand All @@ -53,10 +53,10 @@ void setup() {

attachInterrupt(digitalPinToInterrupt(encoderPinA), isrA, CHANGE);
attachInterrupt(digitalPinToInterrupt(encoderPinB), isrB, CHANGE);
// Turn off motors - Initial state
digitalWrite(enableForwardPin, LOW);
digitalWrite(enableBackwardPin, LOW);
// Turn off motors - Initial state
digitalWrite(enableForwardPin, LOW);
digitalWrite(enableBackwardPin, LOW);
}

void setM1MotorTarget (const unsigned int value)
Expand Down Expand Up @@ -115,25 +115,25 @@ void loop() {
if(ProtectedCount == 100)
{
digitalWrite(enableForwardPin, LOW);
digitalWrite(enableBackwardPin, LOW);
digitalWrite(enableBackwardPin, LOW);
}
else if (ProtectedCount > 100)
{
digitalWrite(enableForwardPin, LOW);
digitalWrite(enableBackwardPin, HIGH);
digitalWrite(enableBackwardPin, HIGH);
}
else if (ProtectedCount < 100)
{
digitalWrite(enableForwardPin, HIGH);
digitalWrite(enableBackwardPin, LOW);
digitalWrite(enableBackwardPin, LOW);
}

// if (readI == LOW)
// {
// digitalWrite(enableForwardPin, LOW);
// digitalWrite(enableBackwardPin, LOW);
// digitalWrite(enableBackwardPin, LOW);
// digitalWrite(led, HIGH);
// }

Serial.println(ProtectedCount);
}
}