1 files changed, 0 insertions, 126 deletions
diff --git a/CODE/debug/driving/onemotor_softPWM/onemotor_softPWM.ino b/CODE/debug/driving/onemotor_softPWM/onemotor_softPWM.ino
deleted file mode 100644
index 68d95dd..0000000
--- a/CODE/debug/driving/onemotor_softPWM/onemotor_softPWM.ino
+++ /dev/null
@@ -1,126 +0,0 @@
-#include <TimerThree.h>
-
-int enA = 6;  //PWM pin
-int enB = 5;  //GND
-int pwm1 = 4; //
-int pwm2 = 3;
-int encoA = 32;
-int encoB = 31;
-
-int speed = 1000; // speed 0-1
-
-double sp = 0.00;
-double rpm = 0.00;
-volatile long encount = 0;
-unsigned long Ltime = 0;
-unsigned long Ctime = 0;
-unsigned long Ptime = 0;
-
-volatile int PWMval = 0;   // PWM value 0-100
-
-
-void setup() {
-  pinMode(enA, OUTPUT);
-  pinMode(enB, OUTPUT);
-  pinMode(pwm1, OUTPUT);
-  pinMode(pwm2, OUTPUT);
-
-  pinMode(encoA, INPUT_PULLUP);
-  pinMode(encoB, INPUT_PULLUP);
-
-  attachInterrupt(digitalPinToInterrupt(encoA), encoderISR, CHANGE);
-  attachInterrupt(digitalPinToInterrupt(encoB), encoderISR, CHANGE);
-
-  Timer3.initialize(800); // 800 microseconds or 1.25kHz
-  Timer3.attachInterrupt(updatePWM); 
-
-  Serial.begin(9600);
-}
-
-void updatePWM() {
-  static int counter = 0;
-
-  if (counter < PWMval) {
-    digitalWrite(enA, HIGH);
-  } else {
-    digitalWrite(enA, LOW);
-  }
-
-  counter++;
-  if (counter >= 100) {
-    counter = 0;
-  }
-}
-void mcpsoftpwm(int value) {
-  if (value < 0) value = 0;
-  if (value > 100) value = 100;
-
-  Serial.print("softPWM pin: enA, value: ");
-  Serial.println(value); 
-  PWMval = value; 
-}
-
-void encoderISR() {
-  encount++;
-}
-
-void readenc() {
-  Ctime = micros();
-  Ptime = Ctime - Ltime;
-  Ltime = Ctime;
-  rpm = (encount / 211.2) * (60000000.0 / Ptime);
-  Serial.print("RPM: ");
-  Serial.print(rpm);
-  Serial.print("    Sample period:");
-  Serial.print(Ptime);
-  Serial.print("ms, encoder count:");
-  Serial.println(encount);
-
-  encount = 0;
-}
-void resetenc(){
-  Ctime = micros();
-  Ltime = Ctime;
-  encount = 0;
-}
-
-void move(int sped) {
-  sp = abs(sped)*0.1;
-  mcpsoftpwm(sp);
-  digitalWrite(enB, LOW);
-  if (sped < 0) {
-    Serial.print("back ");
-    digitalWrite(pwm1, LOW);
-    digitalWrite(pwm2, HIGH);
-  } else {
-    Serial.print("forward ");
-    digitalWrite(pwm1, HIGH);
-    digitalWrite(pwm2, LOW);
-  } 
-  Serial.println(sp);
-}
-
-void loop() {
-  move(speed);
-  delay(1000);
-  readenc();
-  delay(1000);
-
-  Serial.println();
-
-  move(0);
-  delay(1000);
-  resetenc();
-  delay(1000);
-  readenc();
-  delay(1000);
-
-  Serial.println();
-
-  move(500);
-  delay(1000);
-  readenc();
-  delay(1000);
-
-  Serial.println();
-}