Diff: main.cpp

Revision:

25:8aaf4f9111fe

Parent:

24:7f14b70fc9ef

--- a/main.cpp	Mon Apr 08 11:03:25 2019 +0100
+++ b/main.cpp	Mon Jul 20 20:32:35 2020 +0000
@@ -1,12 +1,110 @@
 #include "mbed.h"
+#include "stdlib.h"
+#define tam_men             4
+Ticker t_motor;
+//Serial
+Serial pc(USBTX, USBRX);
+//puertos
+BusOut bobinas(D7, D6,D5,D4);
+DigitalOut a(D8);
+DigitalOut b(D9);
+PwmOut pwm(PTE29);
+//Variables
+int ii=0;
+float motor;
+float duty_led;
+float motor_dc;
+float servomotor;
+float paso;
+char men[tam_men];
+char cadena[tam_men-1];
+char c;
+int i=0, x=0;
+int bandera;
+//tabla de la secuencia de pasos
+//char const sec[8]={0x1, 0x3, 0x2, 0x6, 0x4, 0xc, 0x8, 0x9};
+char const sec[4]={0x1, 0x2, 0x4, 0x9};
+//metodos
+void recibir();
+void rc_isr();
+void mover_motor();
 
-DigitalOut myled(LED1);
+void rc_isr()
+{   
+    pc.attach(NULL, Serial::RxIrq);
+    recibir();
+    
+}
+void recibir()
+{
+    
+    c = pc.getc(); // Read hyperterminal
+    // pc.putc(c);
+    if(c=='a'){bandera=1;}
+    else if(c=='b'){bandera=2;}
+    else if(c=='c'){bandera=3;}   
+    else if ((c != '\r') & (i < tam_men)) 
+    {   
+        if ( (c >= '0') &  (c <= '9') )
+        {    
+        men[i] = c;
+        i++;
+    }
+        else  
+        { 
+            if(bandera==1){  
+            motor_dc = atof(men);
+            a=1;
+            b=0;
+            motor=motor_dc*0.01;
+            pwm.write(motor); 
+            pc.printf("motor dc %d \n\r",motor_dc);
+          }     
+         else if(bandera==2){
+          servomotor = atof(men);      
+          pc.printf("servo %d \n\r",servomotor);
+            }   
+          else if(bandera==3){
+          paso = atof(men);     
+          pc.printf("paso %d \n\r",paso); 
+            }  
+        for (i=0; i< tam_men; i++) {men[i] = '\0';}
+        i=0;
+    }    
+       }
+    pc.attach(&rc_isr, Serial::RxIrq);
+}
+/*
+void motores() {
+    #include "mbed.h"
 
-int main() {
+//prototipos
+void mover_motor()
+{
+    bobinas= sec[i];
+    i++;
+    if(i==4) i=0; 
+}
+int main (){
+    a=1;
+    b=0;
+    pwm.write(0.2f);
+    t_motor.attach(&mover_motor, 0.005);
+   while(true){
+    
+    }
+    }
+    
+    }
+
+*/
+int main()
+{
+    pc.attach(&rc_isr, Serial::RxIrq);
+    pc.printf("Comienzo...\n\r");
+    //led.period(8.33333e-3);
     while(1) {
-        myled = 1;
-        wait(0.2);
-        myled = 0;
-        wait(0.2);
+        pc.printf("Esperando...\n\r");
+        wait(2);                
     }
-}
+}
\ No newline at end of file