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main.cpp@4:48717b42eab2, 2018-05-02 (annotated)

Committer:
lucasfontenla
Date:
Wed May 02 19:56:10 2018 +0000
Revision:
4:48717b42eab2
Parent:
3:eb9bd4131e95
Child:
5:0cbf491f703d
C?digo para movimenta??o manual;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lucasfontenla 0:cc562f78f889 1 #include "mbed.h"
lucasfontenla 0:cc562f78f889 2
lucasfontenla 4:48717b42eab2 3 DigitalOut stepX(D2);
lucasfontenla 4:48717b42eab2 4 DigitalOut dirX(D3);
lucasfontenla 4:48717b42eab2 5
lucasfontenla 4:48717b42eab2 6 DigitalOut stepY(D8);
lucasfontenla 4:48717b42eab2 7 DigitalOut dirY(D9);
lucasfontenla 4:48717b42eab2 8
lucasfontenla 4:48717b42eab2 9 DigitalOut stepZ(D11);
lucasfontenla 4:48717b42eab2 10 DigitalOut dirZ(D12);
lucasfontenla 4:48717b42eab2 11
lucasfontenla 4:48717b42eab2 12 AnalogIn joyX(A0);
lucasfontenla 4:48717b42eab2 13 AnalogIn joyY(A1);
lucasfontenla 4:48717b42eab2 14
lucasfontenla 4:48717b42eab2 15 DigitalIn zUp(D6);
lucasfontenla 4:48717b42eab2 16 DigitalIn zDwn(D7);
lucasfontenla 4:48717b42eab2 17
lucasfontenla 4:48717b42eab2 18 float valX;
lucasfontenla 4:48717b42eab2 19 float valY;
lucasfontenla 4:48717b42eab2 20 int valZUp;
lucasfontenla 4:48717b42eab2 21 int valZDwn;
lucasfontenla 4:48717b42eab2 22
lucasfontenla 4:48717b42eab2 23 int activeX = 1;
lucasfontenla 4:48717b42eab2 24 int activeY = 1;
lucasfontenla 4:48717b42eab2 25 int activeZ = 1;
lucasfontenla 4:48717b42eab2 26
lucasfontenla 4:48717b42eab2 27 int contador = 0;
lucasfontenla 4:48717b42eab2 28
lucasfontenla 4:48717b42eab2 29 float pps = 800.0;
lucasfontenla 4:48717b42eab2 30 float periodo = 1.0/pps;
lucasfontenla 4:48717b42eab2 31 float tempo = periodo/2.0;
lucasfontenla 1:b2e395e50a45 32
lucasfontenla 1:b2e395e50a45 33 int main(){
lucasfontenla 4:48717b42eab2 34 printf("Starting...\r\n");
lucasfontenla 4:48717b42eab2 35 while(1){
lucasfontenla 4:48717b42eab2 36 valX = joyX;
lucasfontenla 4:48717b42eab2 37 valY = joyY;
lucasfontenla 4:48717b42eab2 38
lucasfontenla 4:48717b42eab2 39 valZUp = zUp;
lucasfontenla 4:48717b42eab2 40 valZDwn = zDwn;
lucasfontenla 4:48717b42eab2 41
lucasfontenla 4:48717b42eab2 42 if(valX > 0.7){
lucasfontenla 4:48717b42eab2 43 if(dirX){
lucasfontenla 4:48717b42eab2 44 dirX = 0;
lucasfontenla 4:48717b42eab2 45 }
lucasfontenla 4:48717b42eab2 46 activeX = 1;
lucasfontenla 4:48717b42eab2 47 }
lucasfontenla 4:48717b42eab2 48 else if(valX < 0.3){
lucasfontenla 4:48717b42eab2 49 if(!dirX){
lucasfontenla 4:48717b42eab2 50 dirX = 1;
lucasfontenla 4:48717b42eab2 51 }
lucasfontenla 4:48717b42eab2 52 activeX = 1;
lucasfontenla 4:48717b42eab2 53 }
lucasfontenla 4:48717b42eab2 54 else{
lucasfontenla 4:48717b42eab2 55 activeX = 0;
lucasfontenla 4:48717b42eab2 56 }
lucasfontenla 4:48717b42eab2 57
lucasfontenla 4:48717b42eab2 58 //----------------------------------------------------------------------
lucasfontenla 4:48717b42eab2 59
lucasfontenla 4:48717b42eab2 60 if(valY > 0.7){
lucasfontenla 4:48717b42eab2 61 if(!dirY){
lucasfontenla 4:48717b42eab2 62 dirY = 1;
lucasfontenla 4:48717b42eab2 63 }
lucasfontenla 4:48717b42eab2 64 activeY = 1;
lucasfontenla 4:48717b42eab2 65 }
lucasfontenla 4:48717b42eab2 66 else if(valY < 0.3){
lucasfontenla 4:48717b42eab2 67 if(dirY){
lucasfontenla 4:48717b42eab2 68 dirY = 0;
lucasfontenla 4:48717b42eab2 69 }
lucasfontenla 4:48717b42eab2 70 activeY = 1;
lucasfontenla 4:48717b42eab2 71 }
lucasfontenla 4:48717b42eab2 72 else{
lucasfontenla 4:48717b42eab2 73 activeY = 0;
lucasfontenla 4:48717b42eab2 74 }
lucasfontenla 4:48717b42eab2 75
lucasfontenla 4:48717b42eab2 76 //----------------------------------------------------------------------
lucasfontenla 4:48717b42eab2 77
lucasfontenla 4:48717b42eab2 78 if(!valZUp && valZDwn){
lucasfontenla 4:48717b42eab2 79 if(dirZ){
lucasfontenla 4:48717b42eab2 80 dirZ = 0;
lucasfontenla 4:48717b42eab2 81 }
lucasfontenla 4:48717b42eab2 82 activeZ = 1;
lucasfontenla 4:48717b42eab2 83 }
lucasfontenla 4:48717b42eab2 84 else if(!valZDwn && valZUp){
lucasfontenla 4:48717b42eab2 85 if(!dirZ){
lucasfontenla 4:48717b42eab2 86 dirZ = 1;
lucasfontenla 4:48717b42eab2 87 }
lucasfontenla 4:48717b42eab2 88 activeZ = 1;
lucasfontenla 4:48717b42eab2 89 }
lucasfontenla 4:48717b42eab2 90 else {
lucasfontenla 4:48717b42eab2 91 activeZ = 0;
lucasfontenla 4:48717b42eab2 92 }
lucasfontenla 4:48717b42eab2 93
lucasfontenla 4:48717b42eab2 94 //----------------------------------------------------------------------
lucasfontenla 4:48717b42eab2 95
lucasfontenla 4:48717b42eab2 96 stepX = activeX;
lucasfontenla 4:48717b42eab2 97 stepY = activeY;
lucasfontenla 4:48717b42eab2 98 stepZ = activeZ;
lucasfontenla 4:48717b42eab2 99 wait(tempo);
lucasfontenla 4:48717b42eab2 100 stepX = 0;
lucasfontenla 4:48717b42eab2 101 stepY = 0;
lucasfontenla 4:48717b42eab2 102 stepZ = 0;
lucasfontenla 4:48717b42eab2 103 wait(tempo);
lucasfontenla 4:48717b42eab2 104 }
lucasfontenla 3:eb9bd4131e95 105 }