BE@R lab
Motion controll board test program
Dependencies: Motor mbed eeprom
Revision 1:5a5abae3748b, committed 2016-03-26
- Comitter:
- sunarin
- Date:
- Sat Mar 26 07:50:05 2016 +0000
- Parent:
- 0:be4a5e3ebb41
- Commit message:
- motor active
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/eeprom.lib Sat Mar 26 07:50:05 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/FRA221_2015/code/eeprom/#c648c5e93d5e
--- a/main.cpp Tue Dec 22 15:02:04 2015 +0000
+++ b/main.cpp Sat Mar 26 07:50:05 2016 +0000
@@ -1,14 +1,105 @@
#include "mbed.h"
#include "Motor.h"
-#include "pinconfig.h"
+#include "pinconfig.h"
+#include "eeprom.h"
-int main()
+Serial rd(D1,D0);
+Serial pc(D8,D2);
+AnalogIn Ain1(PC_2);
+AnalogIn Ain2(PC_3);
+DigitalIn enable(PB_7);
+DigitalIn enable1(PC_13);
+EEPROM memory(PB_4,PA_8,0);
+DigitalOut dout(LED1);
+
+int main(void)
{
- Motor Upper(PWM_LU,A_LU,B_LU );
- Upper.period(0.001);
- while(1)
- {
- Upper.speed(-1);
+ Motor Upper1(PWM_LU,A_LU,B_LU );
+ Motor Upper2(PWM_LL,A_LL,B_LL );
+ Upper1.period(0.00001);
+ Upper2.period(0.00001);
+ uint8_t data;
+ // uint8_t sw= Switch.read();
+
+ float x,j;
+ float y,j1;
+ int k;
+ rd.printf("Hello World !\n");
+
+ while(1) {
+ data = pc.getc();
+ rd.printf("%c",data);
+ rd.printf("\n");
+ wait_ms(100);
+
+ switch(data) {
+
+ case'u':
+ pc.printf("Motor up left\n");
+ Upper1.speed(1);
+ break;
+
+ case'd':
+ Upper1.speed(-1);
+ pc.printf("Motor down left\n");
+ /*
+ if(enable==1) {
+ Upper1.speed(0);
+ //printf("stop\n");
+ } else if(enable==0) {
+ Upper1.speed(-1);
+ //printf("down left\n");
+ }
+ */
+ break;
+
+ case'l':
+ pc.printf("Motor up right\n");
+ Upper2.speed(1);
+ break;
+
+ case'k':
+ Upper2.speed(-1);
+ pc.printf("Motor down right\n");
+ /*
+
+ if(enable1==1) {
+ Upper2.speed(0);
+ //printf("stop\n");
+ } else if(enable1==0) {
+ Upper2.speed(-1);
+ //printf("down right\n");
+ }
+ */
+ break;
+
+ case's':
+ //printf("Motor stop\n");
+ pc.printf("Motor stop\n");
+ Upper1.speed(0);
+ Upper2.speed(0);
+ break;
+
+ case'w':
+ j = (Ain1.read()*3.3);
+ pc.printf("memory = %3.3f\n",j);
+ memory.write(14,j);
+ wait_ms(1);
+ j1 = (Ain2.read()*3.3);
+ pc.printf("memory = %3.3f\n",j1);
+ memory.write(11,j1);
+ wait_ms(1);
+ break;
+
+ case'e':
+
+ memory.read(14,x);
+ wait_ms(1);
+ pc.printf("display = %3.3f\n",j);
+ memory.read(11,y);
+ wait_ms(1);
+ pc.printf("diplay = %3.3f\n",j1);
+ break;
+ }
}
-
-}
\ No newline at end of file
+}
\ No newline at end of file
--- a/pinconfig.h Tue Dec 22 15:02:04 2015 +0000 +++ b/pinconfig.h Sat Mar 26 07:50:05 2016 +0000 @@ -14,14 +14,16 @@ #define B_LL PC_9 //limit switch -#define Lim_LU1 PB_7 +/*#define Lim_LU1 PB_7 #define Lim_LU2 PC_13 #define Lim_LL1 PC_14 -#define Lim_LL2 PC_15 +#define Lim_LL2 PC_15*/ #define Lim_RU1 D2 #define Lim_RU2 D3 #define Lim_RL1 D8 #define Lim_RL2 D9 +#define Lim_IR1 PC_2 + //encoder mode1 #define Emosi PC_12 @@ -34,5 +36,8 @@ #define Tx PA_2 #define Rx PA_3 #define Dir PB_5 +//eeprom +#define I2C_SDA D14 +#define I2C_SCL D15 #endif