Diff: main.cpp

Revision:

58:02dc8328975a

Parent:

54:be4ea8da9057

Child:

64:24e1057a97f7

Child:

71:5590dbe8393a

--- a/main.cpp	Wed May 04 16:27:51 2016 +0000
+++ b/main.cpp	Wed May 04 19:55:03 2016 +0000
@@ -1,6 +1,8 @@
 #include "func.h"
 #include "map.h"
 
+#include "ControlleurPince.h"
+
 /* Déclaration des différents éléments de l'IHM */
 
 DigitalIn CAMP(PA_15);
@@ -32,9 +34,9 @@
 AnalogIn capt4(PC_0);
 
 /* Moteurs pas à pas */
-Stepper RMot(NC, PA_8, PC_7, 4);
-Stepper ZMot(NC, PB_4, PB_10, 5);
-Stepper LMot(NC, PB_5, PB_3, 4);
+Stepper RMot(NC, PA_8, PC_7, PB_15, 4);
+Stepper ZMot(NC, PB_4, PB_10, PB_14, 5);
+Stepper LMot(NC, PB_5, PB_3, PB_13, 4);
 /* Fins de course */
 InterruptIn EndR(PB_15);
 InterruptIn EndZ(PB_14);
@@ -43,6 +45,8 @@
 DigitalIn EnZ(PB_14);
 DigitalIn EnL(PB_13);
 
+ControlleurPince controlleurPince(RMot, ZMot, LMot, EnR, EnZ, EnL);
+
 Ticker ticker;
 //Serial logger(USBTX, USBRX);
 Serial logger(PA_2, PA_3);
@@ -58,8 +62,19 @@
 /* Debut du programme */
 int main(void)
 {
-    logger.printf("Depart homologation !\n\r");
-    homologation();
+    //logger.printf("Depart homologation !\n\r");
+    //homologation();
+    logger.printf("Homming ...\n\r");
+    controlleurPince.home();
+    wait(1);
+    controlleurPince.setPos(10.f,0.f,0.f);
+    wait(1);
+    controlleurPince.setPos(20.f,0.f,0.f);
+    wait(1);
+    controlleurPince.setPos(70.f,0.f,0.f);
+    wait(1);
+    controlleurPince.setPos(20.f,0.f,0.f);
+    logger.printf("Done ...\n\r");
     
     /*drapeau = 0;
     init();