Diff: main.cpp

Revision:

7:a59d1efdbfe1

Parent:

6:e20ec9f212ea

Child:

8:14c5ba6aa06d

diff -r e20ec9f212ea -r a59d1efdbfe1 main.cpp
--- a/main.cpp	Thu Feb 14 14:16:10 2019 +0000
+++ b/main.cpp	Fri Mar 15 21:57:22 2019 +0000
@@ -1,27 +1,48 @@
 #include "mbed.h"
+
 #include "Controler.h"
+#include "Stepper.h"
+
+#define VITESSE_MAX 1000
+
+#define CHARRIOT_STEP_pin D3
+#define CHARRIOT_DIR_pin D4
+#define CHARRIOT_ENABLE_pin D7
+#define MCP_TX_pin D10
+#define MCP_RX_pin D2
 
 
-Controler mcp;
+Controler mcp(128,MCP_TX_pin,MCP_RX_pin,115200);
+Stepper chariot(CHARRIOT_DIR_pin, CHARRIOT_STEP_pin, CHARRIOT_ENABLE_pin);
+
+Serial pc(SERIAL_TX, SERIAL_RX);
 
-int main(){
-    for(int i=0; i<15; i++) {
-        mcp.drive_forward(i);
-        wait_ms(100);
-    }
-    for(int i=15; i>0; i--) {
-        mcp.drive_forward(i);
-        wait_ms(100);
-    }
-    for(int i=0; i<15; i++) {
-        mcp.drive_backwards(i);
-        wait_ms(100);
-    }
-    for(int i=15; i>0; i--) {
-        mcp.drive_backwards(i);
-        wait_ms(100);
-    }
+InterruptIn button(USER_BUTTON);
+
+Ticker systick;
+int flag=0;
+
+void affiche(){
+    flag=1;
 }
 
+void released()
+{
+    button.disable_irq();
+    mcp.reset_encoder_value();
+    button.enable_irq();
+}
 
-
+int main()
+{
+    button.fall(&released);
+    systick.attach(&affiche,0.1);
+    
+    while(1){
+        if(flag==1){
+            flag=0;
+            pc.printf("%i - %i\n\r", mcp.read_encoder_value_M1(),mcp.read_encoder_value_M2() );    
+        }
+        wait(0.01);
+    }
+}
\ No newline at end of file