Added a skeleton for our coast button

source_code/Teensy35/src/main.cpp

-#include <Arduino.h>
-#include "motor_ctrl.h"
-#include "encoder.h"
-#include "utils.h"
-
-
-//BE AWARE COGGING POINTS MAY BE INBETWEEN STATES 
-//(THIS OFFSET MAY IMPACT THE HARD CODED POSITION)
-
-void setup()
-{
-    // Pin Jumper to decide whether we print our options or skip straight to 
-    // Precalculated Butt Control
-    checkDebugJumper();
-
-    motor_setup(); 
-    encoder_setup();
-
-    //deal with serial (might want this faster)
-    Serial.begin(9600);//Serial.begin(2000000); //FASTER!
-    // Hit space bar to start calibration
-    // Hit 'z' to run get hard coded offset
-    char prompt[] = ("\
-SPACE TO START CALIBRATION AND NORMAL OPERATIONS, \n\
-Z TO GET HARDCODED OFFSET \n\
-O TO START OPEN LOOP CONTROL\n\
-L TO LOCATE STATE POSITIONS\n\
-D TO START DIRECT POSITION CONTROL\n\
-B TO START BUTT CONTROL (NON-OPTIMIZED)\n\
-S TO START BUTT CONTROL (OPTIMIZED)\n\n\
-Y TO DEBUG LOW STATE BY STATE\n\
-U TO DEBUG_POT_0_SCALED\n\
-K TO DEBUG ENCODER\n\
-H TO TO SEND SPECIFIC PHASES DEBUG MOTOR\n");
-
-    short incomingByte = 0;
-    while(1)
-    {
-
-        if(!getDebugOn()) {
-            
-            charge_bootstrap_capacitors();
-            motor_butt_control_precalculated();
-        }
-
-        Serial.println(prompt);  
-        delay(200);  // do not go too fast!
-        if (Serial.available()) {
-            incomingByte = Serial.read();
-        }
-        if(incomingByte == ' ')//space bar
-        {
-            break;
-        }
-        else if(incomingByte == 'z') //'z'
-        {
-            charge_bootstrap_capacitors();
-            do_hard_coded_offset();// run the set zero
-        }
-        else if(incomingByte == 'o') //'o'
-        {
-            charge_bootstrap_capacitors();
-            open_loop_control();
-        }
-        else if(incomingByte == 'l') //'l'
-        {
-            charge_bootstrap_capacitors();
-            locate_state_positions();
-        }
-        else if (incomingByte == 'd') //'d'
-        {
-            charge_bootstrap_capacitors();
-            direct_position_control();
-        }
-        else if (incomingByte == 'b') //'b'
-        {
-            charge_bootstrap_capacitors();
-            motor_butt_control_inefficient();
-        }
-        else if (incomingByte == 's') //'s'
-        {
-            charge_bootstrap_capacitors();
-            motor_butt_control_precalculated();
-        }
-        else if (incomingByte == 'y') // 'y'
-        {
-            debug_low_state_by_state();
-        }
-        else if (incomingByte == 'u') //'u'
-        {
-            debug_pot_0_scaled();
-        }
-        else if (incomingByte == 'k') //'k'
-        {
-            debug_encoder();
-        }
-        else if (incomingByte == 'h') //'h'
-        {
-            debug_motor();
-        }
-
-    }
-
-    charge_bootstrap_capacitors();  
-    int calibration_return = calibrate_encoder();
-    if(calibration_return == -1)
-    {
-        while(1){//error out
-            delay(900);
-            Serial.println("CALIBRATION FAILED, REBOOT");
-        }
-    }
-    Serial.println("CALIBRATION COMPLETE");
-    
-    return;
-}
-
-void loop()
-{
-    //hold on to the old phase number
-    static int last_phase = 0;
-
-    // get the current encoder tics (this does the math to offset)
-    int position = get_wheel_position_ticks();
-    // get position within current electrical revolution
-    int ele_position = get_elec_rev_position_ticks(position);
-    // get the phase number that corresponds to this ele position
-    int phase = get_phase_number(ele_position);
-    phase = (phase % 6) + 1;
-
-    //if we have a new phase, set the new phase
-    set_block_phase(phase);
-
-
-}

source_code/Teensy35/src/motor_ctrl.cpp

@@ -14,6 +14,8 @@
 #define L2 20  //YellowL
 #define L3 22 //BlueL
 
+// TODO: #define coast <available pin>
+
 // #define HB1EN 0 //halfbridge 1 enable
 // #define HB2EN 1 //halfbridge 2 enable
 // #define HB3EN 2 //halfbridge 3 enable
@@ -86,7 +88,7 @@ void motor_setup(void) {
     pinMode(led, OUTPUT);
     digitalWrite(led, HIGH);
 
-    //setup the pot_0_timer to run every thirty times a second
+    //setup the pot_0_timer and the coast_timer to run thirty times a second
     pot_0_timer.begin(pot_0_speed_ISR, 33333);
 }
 
@@ -95,7 +97,11 @@ void pot_0_speed_ISR() {
 
     // Serial.print("POT_VALUE: ");
     // Serial.print(POT_0_VALUE);
-    // Serial.println();
+    // Serial.println()
+
+    // if(digitalRead(coast)) {
+    //     POT_0_VALUE = 0;
+    // }
 }
 
 void turn_all_off() {