Robot Bachelor / Mbed 2 deprecated MC

Engine control program with 3 engines Needs to make a case for each simultaneous engine setting, because of the WAIT after each number of bits have been sent.

Dependencies:   mbed-rtos mbed PinDetect

Fork of FinalMotorControl by Robot Bachelor

main.cpp@1:a3287196a9b3, 2016-04-07 (annotated)

Committer:
mjhaugsdal
Date:
Thu Apr 07 10:51:36 2016 +0000
Revision:
1:a3287196a9b3
Parent:
0:bd78e433db61
Child:
2:25bcc26f7a5b
Program for controling stepper motor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rlanghbv 0:bd78e433db61 1 #include "mbed.h"
mjhaugsdal 1:a3287196a9b3 2 #include "rtos.h"
rlanghbv 0:bd78e433db61 3
rlanghbv 0:bd78e433db61 4
mjhaugsdal 1:a3287196a9b3 5 //Analog Pins
rlanghbv 0:bd78e433db61 6 DigitalOut IN1(D3);
rlanghbv 0:bd78e433db61 7 DigitalOut IN2(D4);
rlanghbv 0:bd78e433db61 8 DigitalOut IN3(D5);
rlanghbv 0:bd78e433db61 9 DigitalOut IN4(D6);
rlanghbv 0:bd78e433db61 10
mjhaugsdal 1:a3287196a9b3 11 Mutex stdio_mutex;
mjhaugsdal 1:a3287196a9b3 12 static int fart = 1000;
mjhaugsdal 1:a3287196a9b3 13 static char global_direction;
mjhaugsdal 1:a3287196a9b3 14 static int global_counter;
rlanghbv 0:bd78e433db61 15
rlanghbv 0:bd78e433db61 16
rlanghbv 0:bd78e433db61 17 void step4Right()
rlanghbv 0:bd78e433db61 18 {
rlanghbv 0:bd78e433db61 19 IN1=0;
rlanghbv 0:bd78e433db61 20 IN2=1;
rlanghbv 0:bd78e433db61 21 IN3=0;
rlanghbv 0:bd78e433db61 22 IN4=1;
mjhaugsdal 1:a3287196a9b3 23 wait_us(fart); //legg som global variabel "fart"
rlanghbv 0:bd78e433db61 24 IN1=0;
rlanghbv 0:bd78e433db61 25 IN2=1;
rlanghbv 0:bd78e433db61 26 IN3=1;
rlanghbv 0:bd78e433db61 27 IN4=0;
mjhaugsdal 1:a3287196a9b3 28 wait_us(fart);
rlanghbv 0:bd78e433db61 29 IN1=1;
rlanghbv 0:bd78e433db61 30 IN2=0;
rlanghbv 0:bd78e433db61 31 IN3=1;
rlanghbv 0:bd78e433db61 32 IN4=0;
mjhaugsdal 1:a3287196a9b3 33 wait_us(fart);
rlanghbv 0:bd78e433db61 34 IN1=1;
rlanghbv 0:bd78e433db61 35 IN2=0;
rlanghbv 0:bd78e433db61 36 IN3=0;
rlanghbv 0:bd78e433db61 37 IN4=1;
mjhaugsdal 1:a3287196a9b3 38 wait_us(fart);
rlanghbv 0:bd78e433db61 39 }
rlanghbv 0:bd78e433db61 40 void step4Left()
rlanghbv 0:bd78e433db61 41 {
rlanghbv 0:bd78e433db61 42 IN1=1;
rlanghbv 0:bd78e433db61 43 IN2=0;
rlanghbv 0:bd78e433db61 44 IN3=0;
rlanghbv 0:bd78e433db61 45 IN4=1;
mjhaugsdal 1:a3287196a9b3 46 wait_us(fart);
rlanghbv 0:bd78e433db61 47
rlanghbv 0:bd78e433db61 48 IN1=1;
rlanghbv 0:bd78e433db61 49 IN2=0;
rlanghbv 0:bd78e433db61 50 IN3=1;
rlanghbv 0:bd78e433db61 51 IN4=0;
mjhaugsdal 1:a3287196a9b3 52 wait_us(fart);
rlanghbv 0:bd78e433db61 53
rlanghbv 0:bd78e433db61 54 IN1=0;
rlanghbv 0:bd78e433db61 55 IN2=1;
rlanghbv 0:bd78e433db61 56 IN3=1;
rlanghbv 0:bd78e433db61 57 IN4=0;
mjhaugsdal 1:a3287196a9b3 58 wait_us(fart);
rlanghbv 0:bd78e433db61 59
rlanghbv 0:bd78e433db61 60 IN1=0;
rlanghbv 0:bd78e433db61 61 IN2=1;
rlanghbv 0:bd78e433db61 62 IN3=0;
rlanghbv 0:bd78e433db61 63 IN4=1;
mjhaugsdal 1:a3287196a9b3 64 wait_us(fart);
rlanghbv 0:bd78e433db61 65 }
rlanghbv 0:bd78e433db61 66
mjhaugsdal 1:a3287196a9b3 67
mjhaugsdal 1:a3287196a9b3 68 void input(void const *args)
mjhaugsdal 1:a3287196a9b3 69 {
mjhaugsdal 1:a3287196a9b3 70 while(true)
mjhaugsdal 1:a3287196a9b3 71 {
mjhaugsdal 1:a3287196a9b3 72 scanf(" %c", &global_direction);
mjhaugsdal 1:a3287196a9b3 73 }
mjhaugsdal 1:a3287196a9b3 74 }
rlanghbv 0:bd78e433db61 75
rlanghbv 0:bd78e433db61 76 int main()
rlanghbv 0:bd78e433db61 77 {
mjhaugsdal 1:a3287196a9b3 78 //Thread 1 has constant feed from usb
mjhaugsdal 1:a3287196a9b3 79 //Thread t1(input);
mjhaugsdal 1:a3287196a9b3 80 while (true)
mjhaugsdal 1:a3287196a9b3 81 {
rlanghbv 0:bd78e433db61 82 step4Left();
rlanghbv 0:bd78e433db61 83
mjhaugsdal 1:a3287196a9b3 84 /*
mjhaugsdal 1:a3287196a9b3 85 if (global_direction == '0')
mjhaugsdal 1:a3287196a9b3 86 {
mjhaugsdal 1:a3287196a9b3 87 step4Left();
mjhaugsdal 1:a3287196a9b3 88 printf("%c \n" + global_direction);
mjhaugsdal 1:a3287196a9b3 89 } */
mjhaugsdal 1:a3287196a9b3 90 /*else if (global_direction == '1')
mjhaugsdal 1:a3287196a9b3 91 {
mjhaugsdal 1:a3287196a9b3 92 step4Right();
mjhaugsdal 1:a3287196a9b3 93 //printf("RIGHT \n");
mjhaugsdal 1:a3287196a9b3 94 } */
mjhaugsdal 1:a3287196a9b3 95 /* else
mjhaugsdal 1:a3287196a9b3 96 {
mjhaugsdal 1:a3287196a9b3 97 //Do nothing
mjhaugsdal 1:a3287196a9b3 98
mjhaugsdal 1:a3287196a9b3 99 }*/
mjhaugsdal 1:a3287196a9b3 100 }
mjhaugsdal 1:a3287196a9b3 101
mjhaugsdal 1:a3287196a9b3 102 } //END Main