Diff: main.cpp

Revision:

4:a5b51a651db7

Parent:

3:1425359662e4

Child:

5:c3caf8b83e6b

--- a/main.cpp	Thu Dec 18 09:13:10 2014 +0000
+++ b/main.cpp	Fri Dec 19 12:13:43 2014 +0000
@@ -16,20 +16,152 @@
 */
 FastPWM motor1(D10);
 
+Serial pc(USBTX, USBRX);
+Serial bluetooth(D1, D0);
+
+char znak;
+char znak2;
+double i;
+char buff[60];
+
 int main() {
     
-
+    pc.baud(115200);
+    bluetooth.baud(19200);
     
-    motor1.period(PWM_period);
-    motor1.pulsewidth(valPWM1);
+    sprintf(buff, "Hello: \n\r");
+    pc.printf(buff);
+    
+    motor1.period_us(PWM_period);
+    motor1.pulsewidth_us(valPWM1);
     
    /* motor1.period_us(PWM_period);
     motor2.period_us(PWM_period);
     motor3.period_us(PWM_period);
     motor4.period_us(PWM_period);
     */
+    i=1000;
+    
     while(1) {
-     
+         
+    
+    if(pc.readable()){
+        
+        znak=pc.getc();
+        
+        switch (znak){
+            case 'p':
+            sprintf(buff, "odczytany znak: %c\n\r",znak);
+            pc.printf(buff);
+
+            i+=10;
+            break;
+            
+            case 'm':
+            i-=10;
+            break;
+            
+            case 'u':
+            i+=0.1;
+            break;
+            
+            case 'd':
+            i-=0.1;
+            break;
+            
+            
+            case 'q':
+            for(i=1000;i<1500;i++){
+            motor1.pulsewidth_us(i);
+            wait(0.005);
+            }
+            break;
+            
+            case 'w':
+            for(i=1500;i>1000;i--){
+            motor1.pulsewidth_us(i);
+            wait(0.005);
+            }
+            break;
+            case 'e':
+            for(i=1000;i<1500;i=i+0.1){
+            motor1.pulsewidth_us(i);
+            wait(0.001);
+            }
+            break;
+            case 'r':
+            for(i=1500;i>1000;i-=0.1){
+            motor1.pulsewidth_us(i);
+            wait(0.001);
+            }
+            break;
+            }
+            
+
+        motor1.pulsewidth_us(i);
+        }
+        
+        
+        
+        
+        
+        if(bluetooth.readable()){
+        
+        znak2=bluetooth.getc();
+        sprintf(buff, "Odczytany znak: %c\n\r",znak2);
+        pc.printf(buff);
+        
+        /*switch (znak2){
+            case 'a':
+            sprintf(buff, "odczytany znak: %c\n\r",znak2);
+            pc.printf(buff);
+            break;
+            
+            case 'b':
+            sprintf(buff, "odczytany znak: %c\n\r",znak2);
+            pc.printf(buff);
+            break;
+            
+            case 'u':
+            i+=0.1;
+            break;
+            
+            case 'd':
+            i-=0.1;
+            break;
+            
+            
+            case 'q':
+            for(i=1000;i<1500;i++){
+            motor1.pulsewidth_us(i);
+            wait(0.005);
+            }
+            break;
+            
+            case 'w':
+            for(i=1500;i>1000;i--){
+            motor1.pulsewidth_us(i);
+            wait(0.005);
+            }
+            break;
+            case 'e':
+            for(i=1000;i<1500;i=i+0.1){
+            motor1.pulsewidth_us(i);
+            wait(0.001);
+            }
+            break;
+            case 'r':
+            for(i=1500;i>1000;i-=0.1){
+            motor1.pulsewidth_us(i);
+            wait(0.001);
+            }
+            break;
+            }*/
+            
+
+        //motor1.pulsewidth_us(i);
+        }
+        
    /* for (int i = 1000; i < 1500;i++)
      {