main.cpp

00001 #include "mbed.h"
00002 
00003 BusOut StepperMotor1(PA_7, PB_6, PC_7, PA_9);
00004 InterruptIn User_Button(PC_13);
00005 
00006 
00007 //Variables
00008 Timer timer;
00009 static int iValg = 6;
00010 
00011 
00012 //Prototypes
00013 void DriveStepperCW(int);
00014 void DriveStepperCCW(int);
00015 
00016 void Interrupt()
00017 {
00018     printf("Interrupt\n");
00019     iValg = 6;    
00020 }
00021 
00022 int main() 
00023 {
00024     printf("Welcome\r\n");
00025     
00026     
00027     //Start timer
00028     timer.start();
00029     User_Button.fall(&Interrupt);
00030     
00031     //Variables
00032     int first = 1;
00033     
00034 
00035 
00036     
00037     
00038     while(1) 
00039     {
00040            switch (iValg)
00041            {
00042                case 0:
00043                {
00044                    if(first)
00045                    {
00046                     printf("Rotate one round CW\r\n");
00047                     first=0;
00048                     }
00049                 DriveStepperCW(1);
00050                    
00051                break;
00052                }
00053                
00054                case 1:
00055                {
00056                    if(first)
00057                    {
00058                     printf("Rotate one round CCW\r\n");
00059                     
00060                     first=0;
00061                     
00062                     }
00063                DriveStepperCCW(1);
00064                    
00065                    
00066                break;
00067                }
00068         
00069             
00070                
00071                
00072                default:
00073                {
00074                         printf("Option:\r\n");
00075                         printf("0 = Rotate one round CW\r\n");
00076                         printf("1 = Rotate one round CCW\r\n");
00077                         printf("\n\r\n");
00078                         
00079                         scanf("%d", &iValg); 
00080                         
00081                         first = 1;
00082                         break;   
00083                  }
00084                }
00085             }                                
00086     
00087 }
00088 
00089 void DriveStepperCW(int round)
00090 {
00091     if(round == 0)
00092     {
00093         while(iValg <5)
00094         {  
00095                    StepperMotor1 = 0x3;
00096                    wait_ms(10);
00097                    StepperMotor1 = 0x6;
00098                    wait_ms(10);
00099                    StepperMotor1 = 0xc;
00100                    wait_ms(10);
00101                    StepperMotor1 = 0x9;
00102                    wait_ms(10);
00103         }
00104     }
00105     else
00106     {
00107      
00108      int step = 360/(5.625/64)/4/2*round;
00109      
00110      while(iValg <5)
00111         {
00112             for(int i = 0; i < step; i++)
00113              {
00114                        StepperMotor1 = 0x3;
00115                        wait_ms(10);
00116                        StepperMotor1 = 0x6;
00117                        wait_ms(10);
00118                        StepperMotor1 = 0xc;
00119                        wait_ms(10);
00120                        StepperMotor1 = 0x9;
00121                        wait_ms(10);
00122           } 
00123         iValg = 6;
00124       }
00125     }
00126 }
00127 
00128 void DriveStepperCCW(int round)
00129 {
00130     if(round == 0)
00131     {
00132         
00133         
00134         while(iValg <5)
00135         {
00136             
00137                    StepperMotor1 = 0x9;
00138                    wait_ms(10);
00139                    StepperMotor1 = 0xC;
00140                    wait_ms(10);
00141                    StepperMotor1 = 0x6;
00142                    wait_ms(10);
00143                    StepperMotor1 = 0x3;
00144                    wait_ms(10);
00145         }
00146     }
00147     else
00148     {
00149      
00150      int step = 360/(5.625/64)/4/2*round;
00151      
00152      while(iValg <5)
00153         {
00154             for(int i = 0; i < step; i++)
00155              {
00156                        StepperMotor1 = 0x9;
00157                        wait_ms(10);
00158                        StepperMotor1 = 0xC;
00159                        wait_ms(10);
00160                        StepperMotor1 = 0x6;
00161                        wait_ms(10);
00162                        StepperMotor1 = 0x3;
00163                        wait_ms(10);
00164             }   
00165         iValg = 6;
00166       }
00167     }
00168 }