BE@R lab
/
dog_V3_3_testmotor
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Dependencies: Communication_Robot QEI iSerial mbed motion_control
Fork of
dog_V3_2_testmotor
by 
BE@R lab
Diff: main.cpp
- Revision:
- 5:f07cbb5a86c3
- Parent:
- 4:a35291005a30
- Child:
- 6:8d80c84e0c09
--- a/main.cpp Wed Jul 15 08:06:00 2015 +0000
+++ b/main.cpp Thu Jul 16 08:19:18 2015 +0000
@@ -101,6 +101,68 @@
*/
/*
+ while(1) {
+ if(sw_LU_U) {
+ pc.printf("sw_LU_U = 1");
+ } else {
+ pc.printf("sw_LU_U = 0");
+ }
+
+ if(sw_LU_D) {
+ pc.printf(" sw_LU_D = 1");
+ } else {
+ pc.printf(" sw_LU_D = 0");
+ }
+ pc.printf("\n");
+ ///////////////////////////////////
+ if(sw_LL_U) {
+ pc.printf("sw_LL_U = 1");
+ } else {
+ pc.printf("sw_LL_U = 0");
+ }
+
+ if(sw_LL_D) {
+ pc.printf(" sw_LL_D = 1");
+ } else {
+ pc.printf(" sw_LL_D = 0");
+ }
+ pc.printf("\n");
+ //////////////////////////////////////
+ ///////////////////////////////////
+
+ /////////////////////
+ if(sw_RU_U) {
+ pc.printf("sw_RU_U = 1");
+ } else {
+ pc.printf("sw_RU_U = 0");
+ }
+
+ if(sw_RU_D) {
+ pc.printf(" sw_RU_D = 1");
+ } else {
+ pc.printf(" sw_RU_D = 0");
+ }
+ pc.printf("\n");
+ ///////////////////////////////////
+ if(sw_RL_U) {
+ pc.printf("sw_RL_U = 1");
+ } else {
+ pc.printf("sw_RL_U = 0");
+ }
+
+ if(sw_RL_D) {
+ pc.printf(" sw_RL_D = 1");
+ } else {
+ pc.printf(" sw_RL_D = 0");
+ }
+ //////////////////////////////////////
+ pc.printf("\n");
+ pc.printf("\n");
+ wait(1);
+ }
+ */
+
+ /*
while(1) {
myled =1;
wait_ms(200);
@@ -153,7 +215,7 @@
}
*/
- // while(1) {
+ while(1) {
//calibration
pc.printf("Welcome to DOGWHEELSCHAIR\n");
pc.printf("Calibration [START]\n");
@@ -163,7 +225,7 @@
calibration(4);
pc.printf("Calibration [FINISH]\n");
pc.printf("RUN mode [START]\n");
- // }
+ }
uint8_t count=0;
@@ -333,7 +395,7 @@
{
switch(id) {
case 1://Left Upper
- if(sw_LU_U && sw_LU_D) {
+ if(~sw_LU_U && ~sw_LU_D) {
motor_set(id,dirction);
} else {
motor_stop(id);
@@ -342,7 +404,7 @@
break;
case 2://Left Lowwer
- if(sw_LL_U && sw_LL_D) {
+ if(~sw_LL_U && ~sw_LL_D) {
motor_set(id,dirction);
} else {
motor_stop(id);
@@ -351,7 +413,7 @@
break;
case 3://Right Upper
- if(sw_RU_U && sw_RU_D) {
+ if(~sw_RU_U && ~sw_RU_D) {
motor_set(id,dirction);
} else {
motor_stop(id);
@@ -360,7 +422,7 @@
break;
case 4://Right Lowwer
- if(sw_RL_U && sw_RL_D) {
+ if(~sw_RL_U && ~sw_RL_D) {
motor_set(id,dirction);
} else {
motor_stop(id);
@@ -412,14 +474,14 @@
switch(id) {
case 1:
pc.printf("motor[1] run up\n");
- while(sw_LU_U) {
+ do {
motor_set(id,1);
- }
+ } while(sw_LU_U ==0);
pc.printf("motor[1] stop up\n");
//wait_ms(500);
do {
motor_set(id,2);
- } while(sw_LU_U ==0);
+ } while(sw_LU_U);
motor_stop(id);
wait_ms(500);
pc.printf("motor[1] read position\n");
@@ -427,13 +489,13 @@
pc.printf("max_pos_LU= %d\n",max_pos_LU);
pc.printf("motor[1] run down\n");
- while(sw_LU_D) {
+ do {
motor_set(id,2);
- }
+ } while(sw_LU_D==0) ;
pc.printf("motor[1] stop down\n");
do {
motor_set(id,1);
- } while(sw_LU_D ==0);
+ } while(sw_LU_D);
motor_stop(id);
wait_ms(500);
pc.printf("motor[1] read position\n");
@@ -444,29 +506,29 @@
case 2:
pc.printf("motor[2] run up\n");
- while(sw_LL_U) {
+ do{
motor_set(id,1);
- }
+ }while(sw_LL_U==0) ;
motor_stop(id);
wait_ms(500);
pc.printf("motor[2] stop up\n");
do {
motor_set(id,2);
- } while(sw_LL_U == 0);
+ } while(sw_LL_U );
motor_stop(id);
wait_ms(500);
max_pos_LL = position_LL.read_u16();
pc.printf("max_pos_LL= %d\n",max_pos_LL);
pc.printf("motor[2] run down\n");
- while(sw_LL_D) {
+ do{
motor_set(id,2);
- }
+ }while(sw_LL_D==0) ;
motor_stop(id);
wait_ms(500);
pc.printf("motor[2] stop down\n");
do {
motor_set(id,1);
- } while(sw_LL_D == 0);
+ } while(sw_LL_D);
motor_stop(id);
wait_ms(500);
min_pos_LL = position_LL.read_u16();
@@ -474,11 +536,11 @@
break;
case 3:
- uint8_t count=1000;
+ // uint8_t count=1000;
pc.printf("motor[3] run up\n");
- while(sw_RU_U) {
+ do {
motor_set(id,1);
- }
+ }while(sw_RU_U==0);
motor_stop(id);
wait_ms(500);
pc.printf("motor[3] stop up\n");
@@ -486,7 +548,7 @@
do {
motor_set(id,2);
- } while(sw_RU_U ==0);
+ } while(sw_RU_U);
motor_stop(id);
wait_ms(500);
max_pos_RU = position_RU.read_u16();
@@ -501,16 +563,16 @@
count--;
}
}*/
- while(sw_RU_D) {
+ do {
motor_set(id,2);
- }
+ }while(sw_RU_D==0);
motor_stop(id);
wait_ms(500);
pc.printf("motor[3] stop down\n");
do {
motor_set(id,1);
- } while(sw_RU_D == 0);
+ } while(sw_RU_D);
motor_stop(id);
wait_ms(500);
min_pos_RU = position_RU.read_u16();
@@ -520,29 +582,29 @@
case 4:
pc.printf("motor[4] run up\n");
- while(sw_RL_U) {
+ do {
motor_set(id,1);
- }
+ }while(sw_RL_U==0);
motor_stop(id);
wait_ms(500);
pc.printf("motor[4] stop up\n");
do {
motor_set(id,2);
- } while(sw_RL_U==0);
+ } while(sw_RL_U);
motor_stop(id);
wait_ms(500);
max_pos_RL = position_RL.read_u16();
pc.printf("max_pos_RL= %d\n",max_pos_RL);
pc.printf("motor[4] run down\n");
- while(sw_RL_D) {
+ do{
motor_set(id,2);
- }
+ }while(sw_RL_D==0);
motor_stop(id);
wait_ms(500);
pc.printf("motor[4] stop down\n");
do {
motor_set(id,1);
- } while(sw_RL_D == 0);
+ } while(sw_RL_D);
motor_stop(id);
wait_ms(500);
min_pos_RL = position_RL.read_u16();
@@ -551,7 +613,7 @@
}
}
-
+/*
uint16_t convert(uint16_t data)
{
uint16_t ans=0;
@@ -563,5 +625,6 @@
uint16_t scale(uint16_t data)
{
-
-}
\ No newline at end of file
+
+}
+*/
\ No newline at end of file