Revision 41:7f91e949ca88, committed 2018-05-03

Comitter:

leogrotti

Date:

Thu May 03 18:23:42 2018 +0000

Parent:

40:0b517b49f70d

Child:

42:a04bff02f231

Commit message:

3 motores + joystick+2botoes;

Changed in this revision

--- a/main.cpp	Wed May 02 14:59:42 2018 +0000
+++ b/main.cpp	Thu May 03 18:23:42 2018 +0000
@@ -68,7 +68,8 @@
 
 
 /* Variables -----------------------------------------------------------------*/
-DigitalIn button1(D2);
+InterruptIn button1(PC_1);
+InterruptIn button2(PC_0);
 
 /* Initialization parameters. */
 //L6474_init_t init = {
@@ -150,6 +151,32 @@
 
 /* Main ----------------------------------------------------------------------*/
 
+void pressed_cima() {
+
+     motor3->run(StepperMotor::FWD);
+     printf ("Ariba! \r\n");
+
+}
+void pressed_baixo() {
+
+     motor3->run(StepperMotor::BWD);
+     printf ("Abajo! \r\n");
+
+}
+void released_1()
+{
+    motor3->hard_stop();
+    printf ("parou \r\n");
+
+}
+
+void released_2()
+{
+    motor3->hard_stop();
+    printf ("parou \r\n");
+
+}
+
 int main()
 {
     /*----- Initialization. -----*/
@@ -173,42 +200,42 @@
 
  
 
-        /*motor1->set_acceleration(160);
-        motor2->set_acceleration(160);
-        motor1->set_max_speed(speed1);
-        motor2->set_max_speed(speed2);*/
-        
-
- 
- 
-//motor1->set_min_speed(1300);
-//motor2->set_min_speed(1300);
-
-//motor1->set_parameter(L6474_STEP_MODE,L6474_STEP_SEL_1_2);
-//motor2->set_parameter(L6474_STEP_MODE,L6474_STEP_SEL_1_2);
 
 
     /* Attaching and enabling interrupt handlers. */
     motor3->attach_flag_irq(&flag_irq_handler);
     motor3->enable_flag_irq();
+    
 
+    
+    button1.rise(&pressed_cima);
+    button2.rise(&pressed_baixo);
+    button1.fall(&released_1);
+    button2.fall(&released_2);
  
     while(true) {
         u = eixo_X.read();
         w = eixo_Y.read();
         
-  if (button1.read() == 0){ 
+  /*  if (button1.read()==0()){ 
         
-        motor3->run(StepperMotor::FWD);
+            button.fall()
             printf("button1 fwd \r\n\n");
         
      }
     
-    else {
-        motor3->run(StepperMotor::BWD);
-            printf("button1 bwd \r\n\n");
+ //   else {
+ //       motor3->run(StepperMotor::BWD);
+  //          printf("button1 bwd \r\n\n");
          
-     }
+ //    }
+ 
+    if (button1.read()==0){ 
+        
+        button1.rise()
+        printf("button1 bwd \r\n\n");
+        
+     }*/
 
   
         if (u>0.740) {