Diff: main.cpp

Revision:

1:2c0e9ef138a4

Parent:

0:651738eb850c

Child:

2:31a9ee6d066d

--- a/main.cpp	Sat Feb 07 04:56:46 2015 +0000
+++ b/main.cpp	Fri Apr 17 03:14:39 2015 +0000
@@ -4,16 +4,18 @@
 
 AnalogIn Y_Axis(P0_13);
 AnalogIn X_Axis(P0_11);
+AnalogIn Z_Axis(P0_15);
 
 SoftPWM X_PWM(P0_9);  //P0_9
 SoftPWM Y_PWM(P0_10); //P0_10
+SoftPWM Z_PWM(P0_4); //P0_4
 
 USBSerial serial;
 
 #define MAX_LOGIC  10000   // Full-deflection Max Range
 #define MIN_LOGIC  0       // Full-deflection Min Range
 
-#define SWITCH_LEVELS  9  // # of possible levels
+#define SWITCH_LEVELS  5  // # of possible levels
 #define FWD            1
 #define REV            0
 
@@ -21,17 +23,20 @@
 
 //NOTE: Period MUST be defined 1st, them DC. 
 
-float Period_Array [SWITCH_LEVELS] = {0.010, 0.250, 1.0, 2.0, 100.0, 2.0, 1.0, 0.250, 0.010};    // PEriod Corresponding to 10, 100, 200, 400, 0 , 400, 200, 100, 10 Hz
+float Period_Array [SWITCH_LEVELS] = {0.01, 0.1,  100.0, 0.1, 0.01};    // Period Corresponding to 10, 100, 0,  100, 10 Hz
 uint16_t SpeedThreshold = MAX_LOGIC / SWITCH_LEVELS;
 
 uint16_t X_Speed = 4;
 uint16_t Y_Speed = 4;
+uint16_t Z_Speed = 4;
 
-bool X_Direction;
-bool Y_Direction;
+bool X_Direction = FWD;
+bool Y_Direction = FWD;
+bool Z_Direction = FWD;
 
 uint16_t tempX_Speed = 1;
 uint16_t tempY_Speed = 1;
+uint16_t tempZ_Speed = 1;
 
 
 main()
@@ -44,14 +49,19 @@
    
         Y_Speed = (uint16_t) (Y_Axis.read() * MAX_LOGIC) / (SpeedThreshold + SpeedThreshold /  SWITCH_LEVELS);
         
-       if (X_Speed > 4) {X_Direction = FWD;}
-       if (X_Speed < 4) {X_Direction = REV;}
-       if (Y_Speed > 4) {Y_Direction = FWD;}
-       if (Y_Speed < 4) {Y_Direction = REV;}
+        Z_Speed = (uint16_t) (Z_Axis.read() * MAX_LOGIC) / (SpeedThreshold + SpeedThreshold /  SWITCH_LEVELS);
+        
+       if (X_Speed > 2) {X_Direction = FWD;}
+       if (X_Speed < 2) {X_Direction = REV;}
+       if (Y_Speed > 2) {Y_Direction = FWD;}
+       if (Y_Speed < 2) {Y_Direction = REV;}
+       if (Z_Speed > 2) {Z_Direction = FWD;}
+       if (Z_Speed < 2) {Z_Direction = REV;}
         
         
-        //serial.printf(" X_Direction : %u",   X_Direction);
-        //serial.printf(" Y_Direction : %u \n",Y_Direction);
+        serial.printf(" X_Direction : %u",   X_Direction);
+        serial.printf(" Y_Direction : %u \n",Y_Direction);
+        serial.printf(" Z_Direction : %u \n",Z_Direction);
      
         if(tempX_Speed != X_Speed)
         {
@@ -59,7 +69,7 @@
             X_PWM.period(Period_Array[X_Speed]);   
             X_PWM.write(0.5);  
             
-                    //serial.printf(" X_Period : %4.4f \n",Period_Array[X_Speed]);
+        serial.printf(" X_Period : %4.4f \n",Period_Array[X_Speed]);
         }
         
         if(tempY_Speed != Y_Speed)
@@ -67,7 +77,15 @@
             tempY_Speed = Y_Speed;
             Y_PWM.period(Period_Array[Y_Speed]); 
             Y_PWM.write(0.5);    
-                    //serial.printf(" Y_Period : %4.4f \n",Period_Array[Y_Speed]);
+        serial.printf(" Y_Period : %4.4f \n",Period_Array[Y_Speed]);
+        }
+        
+        if(tempZ_Speed != Z_Speed)
+        {
+            tempZ_Speed = Z_Speed;
+            Z_PWM.period(Period_Array[Z_Speed]); 
+            Z_PWM.write(0.5);    
+        serial.printf(" Z_Period : %4.4f \n",Period_Array[Z_Speed]);
         }
 }
 }