Inverted Pendulum
/
IP-Interface
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Diff: main.cpp
- Revision:
- 4:41bbbaecd322
- Parent:
- 1:b0fc2c9a5d06
- Child:
- 5:74fcd196ff96
--- a/main.cpp Fri Nov 11 01:11:46 2016 +0000
+++ b/main.cpp Fri Nov 11 01:54:18 2016 +0000
@@ -3,6 +3,167 @@
AnalogIn ain(A0);
Serial pc(USBTX, USBRX);
DigitalOut dout(LED1);
+
+ //motor pins
+DigitalOut d2(PTB23);
+DigitalOut M1PWM(PTC4);
+DigitalOut M2PWM(PTD0);
+DigitalOut M1DIR(PTC3);
+DigitalOut M2DIR(PTC12);
+
+void anticlockwise(int steps){
+ for (int i = 0; i < 8; i++) {
+ switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
+ case 0: {
+ M1PWM=1;
+ M1DIR=0;
+ M2PWM=0;
+ M2DIR=0;
+ //wait_ms(1);
+ }
+ break;
+ case 1: {
+ M1PWM=1;
+ M1DIR=0;
+ M2PWM=1;
+ M2DIR=0;
+ //wait_ms(1);
+ }
+ break;
+ case 2: {
+ M1PWM=0;
+ M1DIR=0;
+ M2PWM=1;
+ M2DIR=0;
+ //wait_ms(1);
+ }
+ break;
+ case 3: {
+ M1PWM=1;
+ M1DIR=1;
+ M2PWM=1;
+ M2DIR=0;
+ //wait_ms(1);
+ }
+ break;
+ case 4: {
+ M1PWM=1;
+ M1DIR=1;
+ M2PWM=0;
+ M2DIR=0;
+ //wait_ms(1);
+ }
+ break;
+ case 5: {
+ M1PWM=1;
+ M1DIR=1;
+ M2PWM=1;
+ M2DIR=1;
+ //wait_ms(1);
+ }
+ break;
+ case 6: {
+ M1PWM=0;
+ M1DIR=0;
+ M2PWM=1;
+ M2DIR=1;
+ //wait_ms(1);
+ }
+ break;
+ case 7: {
+ M1PWM=1;
+ M1DIR=0;
+ M2PWM=1;
+ M2DIR=1;
+ //wait_ms(1);
+ }
+ break;
+ }
+ wait_us(500);
+ }
+
+
+ // wait time defines the speed
+
+
+}
+
+void clockwise(){
+ for (int i = 0; i < 8; i++) {
+ switch (i) { // activate the ports A0, A2, A3, A3 in a binary sequence for steps
+ case 0: {
+ M1PWM=1;
+ M1DIR=0;
+ M2PWM=1;
+ M2DIR=1;
+ //wait_us(20);
+ }
+ break;
+ case 1: {
+ M1PWM=0;
+ M1DIR=0;
+ M2PWM=1;
+ M2DIR=1;
+ //wait_us(20);
+ }
+ break;
+ case 2: {
+ M1PWM=1;
+ M1DIR=1;
+ M2PWM=1;
+ M2DIR=1;
+ //wait_us(20);
+ }
+ break;
+ case 3: {
+ M1PWM=1;
+ M1DIR=1;
+ M2PWM=0;
+ M2DIR=0;
+ //wait_us(20);
+ }
+ break;
+ case 4: {
+ M1PWM=1;
+ M1DIR=1;
+ M2PWM=1;
+ M2DIR=0;
+ //wait_us(20);
+ }
+ break;
+ case 5: {
+ M1PWM=0;
+ M1DIR=0;
+ M2PWM=1;
+ M2DIR=0;
+ //wait_us(20);
+ }
+ break;
+ case 6: {
+ M1PWM=1;
+ M1DIR=0;
+ M2PWM=1;
+ M2DIR=0;
+ //wait_us(20);
+ }
+ break;
+ case 7: {
+ M1PWM=1;
+ M1DIR=0;
+ M2PWM=0;
+ M2DIR=0;
+ //wait_us(20);
+ }
+ break;
+ }
+ wait_us(500);
+ }
+
+
+ // wait time defines the speed
+
+
+}
int main() {
pc.baud(9600);