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Dependencies:   mbed

main.cpp@0:86bb99faa77e, 2019-10-31 (annotated)

Committer:
o2132613
Date:
Thu Oct 31 06:18:36 2019 +0000
Revision:
0:86bb99faa77e
maybe this;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
o2132613 0:86bb99faa77e 1 #include "mbed.h"
o2132613 0:86bb99faa77e 2 #define speed 0.375
o2132613 0:86bb99faa77e 3 #include "mbed.h"
o2132613 0:86bb99faa77e 4
o2132613 0:86bb99faa77e 5 SPISlave spi(PA_7,PA_6,PA_5,PA_4);
o2132613 0:86bb99faa77e 6
o2132613 0:86bb99faa77e 7 PwmOut motorUP(PA_10);
o2132613 0:86bb99faa77e 8 PwmOut motorDOWN(PA_9);
o2132613 0:86bb99faa77e 9 PwmOut motorLEFT(PA_8);
o2132613 0:86bb99faa77e 10 PwmOut motorRIGHT(PA_1);
o2132613 0:86bb99faa77e 11
o2132613 0:86bb99faa77e 12 void setting(void)
o2132613 0:86bb99faa77e 13 {
o2132613 0:86bb99faa77e 14 motorUP.period_ms(1);
o2132613 0:86bb99faa77e 15 motorDOWN.period_ms(1);
o2132613 0:86bb99faa77e 16 motorLEFT.period_ms(1);
o2132613 0:86bb99faa77e 17 motorRIGHT.period_ms(1);
o2132613 0:86bb99faa77e 18 spi.format(8,3);
o2132613 0:86bb99faa77e 19 spi.frequency(1000000);
o2132613 0:86bb99faa77e 20 }
o2132613 0:86bb99faa77e 21 int main() {
o2132613 0:86bb99faa77e 22 motorRIGHT = 0;
o2132613 0:86bb99faa77e 23 motorLEFT = 0;
o2132613 0:86bb99faa77e 24 motorDOWN = 0;
o2132613 0:86bb99faa77e 25 motorUP = 0;
o2132613 0:86bb99faa77e 26 while(1) {
o2132613 0:86bb99faa77e 27 if (spi.read() == 128) { //ARM_UP
o2132613 0:86bb99faa77e 28 motorRIGHT = 0;
o2132613 0:86bb99faa77e 29 motorLEFT = 0;
o2132613 0:86bb99faa77e 30 motorDOWN = 0;
o2132613 0:86bb99faa77e 31 motorUP = 0.2;
o2132613 0:86bb99faa77e 32 printf("up/n");
o2132613 0:86bb99faa77e 33 }else if (spi.read() == 1) { //ARM_DOWN
o2132613 0:86bb99faa77e 34 motorRIGHT = 0;
o2132613 0:86bb99faa77e 35 motorLEFT = 0;
o2132613 0:86bb99faa77e 36 motorDOWN = 0.2;
o2132613 0:86bb99faa77e 37 motorUP = 0;
o2132613 0:86bb99faa77e 38 printf("down/n");
o2132613 0:86bb99faa77e 39 }else if (spi.read() == 129) { //LEFT
o2132613 0:86bb99faa77e 40 motorRIGHT = 0;
o2132613 0:86bb99faa77e 41 motorLEFT = speed;
o2132613 0:86bb99faa77e 42 motorDOWN = 0;
o2132613 0:86bb99faa77e 43 motorUP = 0;
o2132613 0:86bb99faa77e 44 printf("left/n");
o2132613 0:86bb99faa77e 45 }else if (spi.read() == 2) { //RIGHT
o2132613 0:86bb99faa77e 46 motorRIGHT = speed;
o2132613 0:86bb99faa77e 47 motorLEFT = 0;
o2132613 0:86bb99faa77e 48 motorDOWN = 0;
o2132613 0:86bb99faa77e 49 motorUP = 0;
o2132613 0:86bb99faa77e 50 printf("right/n");
o2132613 0:86bb99faa77e 51 }else { //stop
o2132613 0:86bb99faa77e 52 motorRIGHT = 0;
o2132613 0:86bb99faa77e 53 motorLEFT = 0;
o2132613 0:86bb99faa77e 54 motorDOWN = 0;
o2132613 0:86bb99faa77e 55 motorUP = 0;
o2132613 0:86bb99faa77e 56 }
o2132613 0:86bb99faa77e 57 int result = spi.read();
o2132613 0:86bb99faa77e 58 printf("%d\n",result);
o2132613 0:86bb99faa77e 59 }
o2132613 0:86bb99faa77e 60 }
o2132613 0:86bb99faa77e 61