DA_SteiraSchieder
/
DA_MotorTest
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Revision 0:8db1713e7aba, committed 2015-10-13
- Comitter:
- thesteira
- Date:
- Tue Oct 13 19:47:40 2015 +0000
- Commit message:
- Motor test DA
Changed in this revision
diff -r 000000000000 -r 8db1713e7aba Serial_HL.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Serial_HL.lib Tue Oct 13 19:47:40 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/hollegha2/code/Serial_HL/#b958bdf108cf
diff -r 000000000000 -r 8db1713e7aba main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Oct 13 19:47:40 2015 +0000
@@ -0,0 +1,81 @@
+
+#include "mbed.h"
+#include "Serial_HL.h"
+
+// Testprogramm um zu sehen ob die RGB-Led richtig verlötet
+// ist und ob sie sich auch dimmen lässt
+
+SerialBLK pc(USBTX, USBRX);
+SvProtocol ua0(&pc);
+
+PwmOut servo1(p21),servo2(p22),servo3(p23),servo4(p24);
+int16_t stickVal1,stickVal2,stickVal3,stickVal4;
+
+void CommandHandler();
+
+int main()
+{
+ servo1.period_ms(20);
+ //servo2.period_ms(20);
+ //servo3.period_ms(20);
+ //servo4.period_ms(20);
+
+ servo1.pulsewidth_us(1000);
+ servo2.pulsewidth_us(1000);
+ servo3.pulsewidth_us(1000);
+ servo4.pulsewidth_us(1000);
+
+
+ pc.format(8,SerialBLK::None,1);pc.baud(115200);
+ ua0.SvMessage("ServoTest");
+
+ Timer stw; stw.start();
+ while(1)
+ {
+ CommandHandler();
+ if((stw.read_ms()>100))
+ {
+ stw.reset();
+ if(ua0.acqON)
+ {
+ ua0.WriteSvI16(1, stickVal1);
+ ua0.WriteSvI16(2, stickVal2);
+ ua0.WriteSvI16(3, stickVal3);
+ ua0.WriteSvI16(4, stickVal4);
+ }
+ }
+ }
+
+ return 1;
+}
+
+
+void CommandHandler()
+{
+ uint8_t cmd;
+
+
+ // Fragen ob überhaupt etwas im RX-Reg steht
+ if( !pc.IsDataAvail() )
+ return;
+
+ // wenn etwas im RX-Reg steht
+ // Kommando lesen
+ cmd = ua0.GetCommand();
+
+ if( cmd==2 ) {
+ // cmd2 hat 2 int16 Parameter
+ stickVal1 = ua0.ReadI16();
+ servo1.pulsewidth_us(1000+stickVal1);
+ }
+ if( cmd==3 ) {
+ // cmd2 hat 2 int16 Parameter
+ stickVal2 = ua0.ReadI16();
+ servo2.pulsewidth_us(1000+stickVal2);
+ }
+ if( cmd==4 ) {
+ // cmd2 hat 2 int16 Parameter
+ stickVal3 = ua0.ReadI16();
+ servo3.pulsewidth_us(1000+stickVal3);
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 8db1713e7aba mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Oct 13 19:47:40 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/4f6c30876dfa \ No newline at end of file