BE@R lab / Mbed 2 deprecated test_motion_board

Motion controll board test program

Dependencies:   Motor mbed eeprom

main.cpp@1:5a5abae3748b, 2016-03-26 (annotated)

Committer:
sunarin
Date:
Sat Mar 26 07:50:05 2016 +0000
Revision:
1:5a5abae3748b
Parent:
0:be4a5e3ebb41 
motor active

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ParinyaT 0:be4a5e3ebb41 1 #include "mbed.h"
ParinyaT 0:be4a5e3ebb41 2 #include "Motor.h"
sunarin 1:5a5abae3748b 3 #include "pinconfig.h"
sunarin 1:5a5abae3748b 4 #include "eeprom.h"
ParinyaT 0:be4a5e3ebb41 5
sunarin 1:5a5abae3748b 6 Serial rd(D1,D0);
sunarin 1:5a5abae3748b 7 Serial pc(D8,D2);
sunarin 1:5a5abae3748b 8 AnalogIn Ain1(PC_2);
sunarin 1:5a5abae3748b 9 AnalogIn Ain2(PC_3);
sunarin 1:5a5abae3748b 10 DigitalIn enable(PB_7);
sunarin 1:5a5abae3748b 11 DigitalIn enable1(PC_13);
sunarin 1:5a5abae3748b 12 EEPROM memory(PB_4,PA_8,0);
sunarin 1:5a5abae3748b 13 DigitalOut dout(LED1);
sunarin 1:5a5abae3748b 14
sunarin 1:5a5abae3748b 15 int main(void)
ParinyaT 0:be4a5e3ebb41 16 {
sunarin 1:5a5abae3748b 17 Motor Upper1(PWM_LU,A_LU,B_LU );
sunarin 1:5a5abae3748b 18 Motor Upper2(PWM_LL,A_LL,B_LL );
sunarin 1:5a5abae3748b 19 Upper1.period(0.00001);
sunarin 1:5a5abae3748b 20 Upper2.period(0.00001);
sunarin 1:5a5abae3748b 21 uint8_t data;
sunarin 1:5a5abae3748b 22 // uint8_t sw= Switch.read();
sunarin 1:5a5abae3748b 23
sunarin 1:5a5abae3748b 24 float x,j;
sunarin 1:5a5abae3748b 25 float y,j1;
sunarin 1:5a5abae3748b 26 int k;
sunarin 1:5a5abae3748b 27 rd.printf("Hello World !\n");
sunarin 1:5a5abae3748b 28
sunarin 1:5a5abae3748b 29 while(1) {
sunarin 1:5a5abae3748b 30 data = pc.getc();
sunarin 1:5a5abae3748b 31 rd.printf("%c",data);
sunarin 1:5a5abae3748b 32 rd.printf("\n");
sunarin 1:5a5abae3748b 33 wait_ms(100);
sunarin 1:5a5abae3748b 34
sunarin 1:5a5abae3748b 35 switch(data) {
sunarin 1:5a5abae3748b 36
sunarin 1:5a5abae3748b 37 case'u':
sunarin 1:5a5abae3748b 38 pc.printf("Motor up left\n");
sunarin 1:5a5abae3748b 39 Upper1.speed(1);
sunarin 1:5a5abae3748b 40 break;
sunarin 1:5a5abae3748b 41
sunarin 1:5a5abae3748b 42 case'd':
sunarin 1:5a5abae3748b 43 Upper1.speed(-1);
sunarin 1:5a5abae3748b 44 pc.printf("Motor down left\n");
sunarin 1:5a5abae3748b 45 /*
sunarin 1:5a5abae3748b 46 if(enable==1) {
sunarin 1:5a5abae3748b 47 Upper1.speed(0);
sunarin 1:5a5abae3748b 48 //printf("stop\n");
sunarin 1:5a5abae3748b 49 } else if(enable==0) {
sunarin 1:5a5abae3748b 50 Upper1.speed(-1);
sunarin 1:5a5abae3748b 51 //printf("down left\n");
sunarin 1:5a5abae3748b 52 }
sunarin 1:5a5abae3748b 53 */
sunarin 1:5a5abae3748b 54 break;
sunarin 1:5a5abae3748b 55
sunarin 1:5a5abae3748b 56 case'l':
sunarin 1:5a5abae3748b 57 pc.printf("Motor up right\n");
sunarin 1:5a5abae3748b 58 Upper2.speed(1);
sunarin 1:5a5abae3748b 59 break;
sunarin 1:5a5abae3748b 60
sunarin 1:5a5abae3748b 61 case'k':
sunarin 1:5a5abae3748b 62 Upper2.speed(-1);
sunarin 1:5a5abae3748b 63 pc.printf("Motor down right\n");
sunarin 1:5a5abae3748b 64 /*
sunarin 1:5a5abae3748b 65
sunarin 1:5a5abae3748b 66 if(enable1==1) {
sunarin 1:5a5abae3748b 67 Upper2.speed(0);
sunarin 1:5a5abae3748b 68 //printf("stop\n");
sunarin 1:5a5abae3748b 69 } else if(enable1==0) {
sunarin 1:5a5abae3748b 70 Upper2.speed(-1);
sunarin 1:5a5abae3748b 71 //printf("down right\n");
sunarin 1:5a5abae3748b 72 }
sunarin 1:5a5abae3748b 73 */
sunarin 1:5a5abae3748b 74 break;
sunarin 1:5a5abae3748b 75
sunarin 1:5a5abae3748b 76 case's':
sunarin 1:5a5abae3748b 77 //printf("Motor stop\n");
sunarin 1:5a5abae3748b 78 pc.printf("Motor stop\n");
sunarin 1:5a5abae3748b 79 Upper1.speed(0);
sunarin 1:5a5abae3748b 80 Upper2.speed(0);
sunarin 1:5a5abae3748b 81 break;
sunarin 1:5a5abae3748b 82
sunarin 1:5a5abae3748b 83 case'w':
sunarin 1:5a5abae3748b 84 j = (Ain1.read()*3.3);
sunarin 1:5a5abae3748b 85 pc.printf("memory = %3.3f\n",j);
sunarin 1:5a5abae3748b 86 memory.write(14,j);
sunarin 1:5a5abae3748b 87 wait_ms(1);
sunarin 1:5a5abae3748b 88 j1 = (Ain2.read()*3.3);
sunarin 1:5a5abae3748b 89 pc.printf("memory = %3.3f\n",j1);
sunarin 1:5a5abae3748b 90 memory.write(11,j1);
sunarin 1:5a5abae3748b 91 wait_ms(1);
sunarin 1:5a5abae3748b 92 break;
sunarin 1:5a5abae3748b 93
sunarin 1:5a5abae3748b 94 case'e':
sunarin 1:5a5abae3748b 95
sunarin 1:5a5abae3748b 96 memory.read(14,x);
sunarin 1:5a5abae3748b 97 wait_ms(1);
sunarin 1:5a5abae3748b 98 pc.printf("display = %3.3f\n",j);
sunarin 1:5a5abae3748b 99 memory.read(11,y);
sunarin 1:5a5abae3748b 100 wait_ms(1);
sunarin 1:5a5abae3748b 101 pc.printf("diplay = %3.3f\n",j1);
sunarin 1:5a5abae3748b 102 break;
sunarin 1:5a5abae3748b 103 }
ParinyaT 0:be4a5e3ebb41 104 }
sunarin 1:5a5abae3748b 105 }