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@17:ff0021c4dcdc, 2016-04-26 (annotated)

Committer:
mjhaugsdal
Date:
Tue Apr 26 14:25:29 2016 +0000
Revision:
17:ff0021c4dcdc
Parent:
16:a3555918c025
Child:
18:ef02a9014491
Made lots of new cases (StepAllRight/Left) (StepEngine1Left/Right)

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 2:25bcc26f7a5b 4 Serial pc(USBTX, USBRX); // tx, rx
rlanghbv 0:bd78e433db61 5
mjhaugsdal 1:a3287196a9b3 6 //Analog Pins
mjhaugsdal 5:fdc7a779d525 7 //First engine
mjhaugsdal 5:fdc7a779d525 8 DigitalOut IN1(A0);
mjhaugsdal 5:fdc7a779d525 9 DigitalOut IN2(A1);
mjhaugsdal 5:fdc7a779d525 10 DigitalOut IN3(A2);
mjhaugsdal 5:fdc7a779d525 11 DigitalOut IN4(A3);
mjhaugsdal 5:fdc7a779d525 12 //Second engine
mjhaugsdal 6:ac5d277bd497 13 DigitalOut IN5(D3);
mjhaugsdal 6:ac5d277bd497 14 DigitalOut IN6(D4);
mjhaugsdal 6:ac5d277bd497 15 DigitalOut IN7(D5);
mjhaugsdal 6:ac5d277bd497 16 DigitalOut IN8(D6);
mjhaugsdal 16:a3555918c025 17 //Third Engine
mjhaugsdal 16:a3555918c025 18 DigitalOut IN9(D8);
mjhaugsdal 16:a3555918c025 19 DigitalOut IN10(D9);
mjhaugsdal 16:a3555918c025 20 DigitalOut IN11(D10);
mjhaugsdal 16:a3555918c025 21 DigitalOut IN12(D11);
mjhaugsdal 5:fdc7a779d525 22
rlanghbv 0:bd78e433db61 23
mjhaugsdal 1:a3287196a9b3 24 static int fart = 1000;
mjhaugsdal 3:15be78948724 25 static char m_cmd = 'x';
rlanghbv 0:bd78e433db61 26
rlanghbv 0:bd78e433db61 27
mjhaugsdal 5:fdc7a779d525 28
mjhaugsdal 17:ff0021c4dcdc 29 void stepAllRight()
rlanghbv 0:bd78e433db61 30 {
mjhaugsdal 6:ac5d277bd497 31 //engine 1
rlanghbv 0:bd78e433db61 32 IN1=0;
rlanghbv 0:bd78e433db61 33 IN2=1;
rlanghbv 0:bd78e433db61 34 IN3=0;
rlanghbv 0:bd78e433db61 35 IN4=1;
mjhaugsdal 6:ac5d277bd497 36 //engine 2
mjhaugsdal 6:ac5d277bd497 37 IN5=0;
mjhaugsdal 6:ac5d277bd497 38 IN6=1;
mjhaugsdal 6:ac5d277bd497 39 IN7=0;
mjhaugsdal 6:ac5d277bd497 40 IN8=1;
mjhaugsdal 17:ff0021c4dcdc 41 //engine 3
mjhaugsdal 17:ff0021c4dcdc 42 IN9=0;
mjhaugsdal 17:ff0021c4dcdc 43 IN10=1;
mjhaugsdal 17:ff0021c4dcdc 44 IN11=0;
mjhaugsdal 17:ff0021c4dcdc 45 IN12=1;
mjhaugsdal 1:a3287196a9b3 46 wait_us(fart); //legg som global variabel "fart"
mjhaugsdal 6:ac5d277bd497 47 //engine 1
rlanghbv 0:bd78e433db61 48 IN1=0;
rlanghbv 0:bd78e433db61 49 IN2=1;
rlanghbv 0:bd78e433db61 50 IN3=1;
rlanghbv 0:bd78e433db61 51 IN4=0;
mjhaugsdal 6:ac5d277bd497 52 //engine 2
mjhaugsdal 6:ac5d277bd497 53 IN5=0;
mjhaugsdal 6:ac5d277bd497 54 IN6=1;
mjhaugsdal 6:ac5d277bd497 55 IN7=1;
mjhaugsdal 6:ac5d277bd497 56 IN8=0;
mjhaugsdal 17:ff0021c4dcdc 57 //engine 3
mjhaugsdal 17:ff0021c4dcdc 58 IN9=0;
mjhaugsdal 17:ff0021c4dcdc 59 IN10=1;
mjhaugsdal 17:ff0021c4dcdc 60 IN11=1;
mjhaugsdal 17:ff0021c4dcdc 61 IN12=0;
mjhaugsdal 1:a3287196a9b3 62 wait_us(fart);
mjhaugsdal 6:ac5d277bd497 63 //engine 1
rlanghbv 0:bd78e433db61 64 IN1=1;
rlanghbv 0:bd78e433db61 65 IN2=0;
rlanghbv 0:bd78e433db61 66 IN3=1;
rlanghbv 0:bd78e433db61 67 IN4=0;
mjhaugsdal 6:ac5d277bd497 68 //engine 2
mjhaugsdal 6:ac5d277bd497 69 IN5=1;
mjhaugsdal 6:ac5d277bd497 70 IN6=0;
mjhaugsdal 6:ac5d277bd497 71 IN7=1;
mjhaugsdal 6:ac5d277bd497 72 IN8=0;
mjhaugsdal 17:ff0021c4dcdc 73 //engine 3
mjhaugsdal 17:ff0021c4dcdc 74 IN9=1;
mjhaugsdal 17:ff0021c4dcdc 75 IN10=0;
mjhaugsdal 17:ff0021c4dcdc 76 IN11=1;
mjhaugsdal 17:ff0021c4dcdc 77 IN12=0;
mjhaugsdal 1:a3287196a9b3 78 wait_us(fart);
mjhaugsdal 6:ac5d277bd497 79 //engine 1
rlanghbv 0:bd78e433db61 80 IN1=1;
rlanghbv 0:bd78e433db61 81 IN2=0;
rlanghbv 0:bd78e433db61 82 IN3=0;
rlanghbv 0:bd78e433db61 83 IN4=1;
mjhaugsdal 6:ac5d277bd497 84 //engine 2
mjhaugsdal 6:ac5d277bd497 85 IN5=1;
mjhaugsdal 6:ac5d277bd497 86 IN6=0;
mjhaugsdal 6:ac5d277bd497 87 IN7=0;
mjhaugsdal 6:ac5d277bd497 88 IN8=1;
mjhaugsdal 17:ff0021c4dcdc 89 //engine 3
mjhaugsdal 17:ff0021c4dcdc 90 IN9=1;
mjhaugsdal 17:ff0021c4dcdc 91 IN10=0;
mjhaugsdal 17:ff0021c4dcdc 92 IN11=0;
mjhaugsdal 17:ff0021c4dcdc 93 IN12=1;
mjhaugsdal 1:a3287196a9b3 94 wait_us(fart);
rlanghbv 0:bd78e433db61 95 }
mjhaugsdal 17:ff0021c4dcdc 96 void stepAllLeft()
rlanghbv 0:bd78e433db61 97 {
mjhaugsdal 6:ac5d277bd497 98 //engine 1
rlanghbv 0:bd78e433db61 99 IN1=1;
rlanghbv 0:bd78e433db61 100 IN2=0;
rlanghbv 0:bd78e433db61 101 IN3=0;
rlanghbv 0:bd78e433db61 102 IN4=1;
mjhaugsdal 6:ac5d277bd497 103 //engine 2
mjhaugsdal 6:ac5d277bd497 104 IN5=1;
mjhaugsdal 6:ac5d277bd497 105 IN6=0;
mjhaugsdal 6:ac5d277bd497 106 IN7=0;
mjhaugsdal 6:ac5d277bd497 107 IN8=1;
mjhaugsdal 17:ff0021c4dcdc 108 //engine 3
mjhaugsdal 17:ff0021c4dcdc 109 IN9=1;
mjhaugsdal 17:ff0021c4dcdc 110 IN10=0;
mjhaugsdal 17:ff0021c4dcdc 111 IN11=0;
mjhaugsdal 17:ff0021c4dcdc 112 IN12=1;
mjhaugsdal 1:a3287196a9b3 113 wait_us(fart);
mjhaugsdal 6:ac5d277bd497 114 //engine 1
rlanghbv 0:bd78e433db61 115 IN1=1;
rlanghbv 0:bd78e433db61 116 IN2=0;
rlanghbv 0:bd78e433db61 117 IN3=1;
rlanghbv 0:bd78e433db61 118 IN4=0;
mjhaugsdal 6:ac5d277bd497 119 //engine 2
mjhaugsdal 6:ac5d277bd497 120 IN5=1;
mjhaugsdal 6:ac5d277bd497 121 IN6=0;
mjhaugsdal 6:ac5d277bd497 122 IN7=1;
mjhaugsdal 6:ac5d277bd497 123 IN8=0;
mjhaugsdal 17:ff0021c4dcdc 124 //engine 3
mjhaugsdal 17:ff0021c4dcdc 125 IN9=1;
mjhaugsdal 17:ff0021c4dcdc 126 IN10=0;
mjhaugsdal 17:ff0021c4dcdc 127 IN11=1;
mjhaugsdal 17:ff0021c4dcdc 128 IN12=0;
mjhaugsdal 1:a3287196a9b3 129 wait_us(fart);
mjhaugsdal 6:ac5d277bd497 130 //engine 1
rlanghbv 0:bd78e433db61 131 IN1=0;
rlanghbv 0:bd78e433db61 132 IN2=1;
rlanghbv 0:bd78e433db61 133 IN3=1;
rlanghbv 0:bd78e433db61 134 IN4=0;
mjhaugsdal 6:ac5d277bd497 135 //engine 2
mjhaugsdal 6:ac5d277bd497 136 IN5=0;
mjhaugsdal 6:ac5d277bd497 137 IN6=1;
mjhaugsdal 6:ac5d277bd497 138 IN7=1;
mjhaugsdal 6:ac5d277bd497 139 IN8=0;
mjhaugsdal 17:ff0021c4dcdc 140 //engine 3
mjhaugsdal 17:ff0021c4dcdc 141 IN9=0;
mjhaugsdal 17:ff0021c4dcdc 142 IN10=1;
mjhaugsdal 17:ff0021c4dcdc 143 IN11=1;
mjhaugsdal 17:ff0021c4dcdc 144 IN12=0;
mjhaugsdal 1:a3287196a9b3 145 wait_us(fart);
mjhaugsdal 6:ac5d277bd497 146 //engine 1
rlanghbv 0:bd78e433db61 147 IN1=0;
rlanghbv 0:bd78e433db61 148 IN2=1;
rlanghbv 0:bd78e433db61 149 IN3=0;
rlanghbv 0:bd78e433db61 150 IN4=1;
mjhaugsdal 6:ac5d277bd497 151 //engine 2
mjhaugsdal 6:ac5d277bd497 152 IN5=0;
mjhaugsdal 6:ac5d277bd497 153 IN6=1;
mjhaugsdal 6:ac5d277bd497 154 IN7=0;
mjhaugsdal 6:ac5d277bd497 155 IN8=1;
mjhaugsdal 17:ff0021c4dcdc 156 //engine 3
mjhaugsdal 17:ff0021c4dcdc 157 IN9=0;
mjhaugsdal 17:ff0021c4dcdc 158 IN10=1;
mjhaugsdal 17:ff0021c4dcdc 159 IN11=0;
mjhaugsdal 17:ff0021c4dcdc 160 IN12=1;
mjhaugsdal 17:ff0021c4dcdc 161 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 162 }
mjhaugsdal 17:ff0021c4dcdc 163
mjhaugsdal 17:ff0021c4dcdc 164 void stepEngine1Left()
mjhaugsdal 17:ff0021c4dcdc 165 {
mjhaugsdal 17:ff0021c4dcdc 166 //engine 1
mjhaugsdal 17:ff0021c4dcdc 167 IN1=1;
mjhaugsdal 17:ff0021c4dcdc 168 IN2=0;
mjhaugsdal 17:ff0021c4dcdc 169 IN3=0;
mjhaugsdal 17:ff0021c4dcdc 170 IN4=1;
mjhaugsdal 17:ff0021c4dcdc 171 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 172 IN1=1;
mjhaugsdal 17:ff0021c4dcdc 173 IN2=0;
mjhaugsdal 17:ff0021c4dcdc 174 IN3=1;
mjhaugsdal 17:ff0021c4dcdc 175 IN4=0;
mjhaugsdal 17:ff0021c4dcdc 176 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 177 IN1=0;
mjhaugsdal 17:ff0021c4dcdc 178 IN2=1;
mjhaugsdal 17:ff0021c4dcdc 179 IN3=1;
mjhaugsdal 17:ff0021c4dcdc 180 IN4=0;
mjhaugsdal 17:ff0021c4dcdc 181 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 182 IN1=0;
mjhaugsdal 17:ff0021c4dcdc 183 IN2=1;
mjhaugsdal 17:ff0021c4dcdc 184 IN3=0;
mjhaugsdal 17:ff0021c4dcdc 185 IN4=1;
mjhaugsdal 1:a3287196a9b3 186 wait_us(fart);
rlanghbv 0:bd78e433db61 187 }
rlanghbv 0:bd78e433db61 188
mjhaugsdal 17:ff0021c4dcdc 189 void stepEngine1Right()
mjhaugsdal 17:ff0021c4dcdc 190 {
mjhaugsdal 17:ff0021c4dcdc 191 //engine 1
mjhaugsdal 17:ff0021c4dcdc 192 IN1=0;
mjhaugsdal 17:ff0021c4dcdc 193 IN2=1;
mjhaugsdal 17:ff0021c4dcdc 194 IN3=0;
mjhaugsdal 17:ff0021c4dcdc 195 IN4=1;
mjhaugsdal 17:ff0021c4dcdc 196 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 197 IN1=0;
mjhaugsdal 17:ff0021c4dcdc 198 IN2=1;
mjhaugsdal 17:ff0021c4dcdc 199 IN3=1;
mjhaugsdal 17:ff0021c4dcdc 200 IN4=0;
mjhaugsdal 17:ff0021c4dcdc 201 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 202 IN1=1;
mjhaugsdal 17:ff0021c4dcdc 203 IN2=0;
mjhaugsdal 17:ff0021c4dcdc 204 IN3=1;
mjhaugsdal 17:ff0021c4dcdc 205 IN4=0;
mjhaugsdal 17:ff0021c4dcdc 206 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 207 IN1=1;
mjhaugsdal 17:ff0021c4dcdc 208 IN2=0;
mjhaugsdal 17:ff0021c4dcdc 209 IN3=0;
mjhaugsdal 17:ff0021c4dcdc 210 IN4=1;
mjhaugsdal 17:ff0021c4dcdc 211 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 212 }
mjhaugsdal 17:ff0021c4dcdc 213
mjhaugsdal 17:ff0021c4dcdc 214 void stepEngine2Right()
mjhaugsdal 17:ff0021c4dcdc 215 {
mjhaugsdal 17:ff0021c4dcdc 216 //engine 1
mjhaugsdal 17:ff0021c4dcdc 217 IN5=0;
mjhaugsdal 17:ff0021c4dcdc 218 IN6=1;
mjhaugsdal 17:ff0021c4dcdc 219 IN7=0;
mjhaugsdal 17:ff0021c4dcdc 220 IN8=1;
mjhaugsdal 17:ff0021c4dcdc 221 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 222 IN5=0;
mjhaugsdal 17:ff0021c4dcdc 223 IN6=1;
mjhaugsdal 17:ff0021c4dcdc 224 IN7=1;
mjhaugsdal 17:ff0021c4dcdc 225 IN8=0;
mjhaugsdal 17:ff0021c4dcdc 226 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 227 IN5=1;
mjhaugsdal 17:ff0021c4dcdc 228 IN6=0;
mjhaugsdal 17:ff0021c4dcdc 229 IN7=1;
mjhaugsdal 17:ff0021c4dcdc 230 IN8=0;
mjhaugsdal 17:ff0021c4dcdc 231 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 232 IN5=1;
mjhaugsdal 17:ff0021c4dcdc 233 IN6=0;
mjhaugsdal 17:ff0021c4dcdc 234 IN7=0;
mjhaugsdal 17:ff0021c4dcdc 235 IN8=1;
mjhaugsdal 17:ff0021c4dcdc 236 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 237 }
mjhaugsdal 17:ff0021c4dcdc 238
mjhaugsdal 17:ff0021c4dcdc 239 void stepEngine2Left()
mjhaugsdal 17:ff0021c4dcdc 240 {
mjhaugsdal 17:ff0021c4dcdc 241 //engine 1
mjhaugsdal 17:ff0021c4dcdc 242 IN5=1;
mjhaugsdal 17:ff0021c4dcdc 243 IN6=0;
mjhaugsdal 17:ff0021c4dcdc 244 IN7=0;
mjhaugsdal 17:ff0021c4dcdc 245 IN8=1;
mjhaugsdal 17:ff0021c4dcdc 246 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 247 IN5=1;
mjhaugsdal 17:ff0021c4dcdc 248 IN6=0;
mjhaugsdal 17:ff0021c4dcdc 249 IN7=1;
mjhaugsdal 17:ff0021c4dcdc 250 IN8=0;
mjhaugsdal 17:ff0021c4dcdc 251 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 252 IN5=0;
mjhaugsdal 17:ff0021c4dcdc 253 IN6=1;
mjhaugsdal 17:ff0021c4dcdc 254 IN7=1;
mjhaugsdal 17:ff0021c4dcdc 255 IN8=0;
mjhaugsdal 17:ff0021c4dcdc 256 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 257 IN5=0;
mjhaugsdal 17:ff0021c4dcdc 258 IN6=1;
mjhaugsdal 17:ff0021c4dcdc 259 IN7=0;
mjhaugsdal 17:ff0021c4dcdc 260 IN8=1;
mjhaugsdal 17:ff0021c4dcdc 261 wait_us(fart);
mjhaugsdal 17:ff0021c4dcdc 262 }
mjhaugsdal 17:ff0021c4dcdc 263
mjhaugsdal 17:ff0021c4dcdc 264
mjhaugsdal 17:ff0021c4dcdc 265
mjhaugsdal 1:a3287196a9b3 266 void input(void const *args)
mjhaugsdal 1:a3287196a9b3 267 {
mjhaugsdal 1:a3287196a9b3 268 while(true)
mjhaugsdal 1:a3287196a9b3 269 {
mjhaugsdal 3:15be78948724 270
rlanghbv 2:25bcc26f7a5b 271 if(pc.readable())
mjhaugsdal 3:15be78948724 272 { m_cmd=pc.getc();
mjhaugsdal 3:15be78948724 273
mjhaugsdal 17:ff0021c4dcdc 274 }
mjhaugsdal 17:ff0021c4dcdc 275
rlanghbv 2:25bcc26f7a5b 276 Thread::wait(10);
mjhaugsdal 5:fdc7a779d525 277 //pc.printf("%d", steps);
mjhaugsdal 1:a3287196a9b3 278 }
mjhaugsdal 1:a3287196a9b3 279 }
rlanghbv 0:bd78e433db61 280
rlanghbv 0:bd78e433db61 281 int main()
rlanghbv 0:bd78e433db61 282 {
mjhaugsdal 1:a3287196a9b3 283 //Thread 1 has constant feed from usb
rlanghbv 2:25bcc26f7a5b 284 Thread t1(input);
mjhaugsdal 3:15be78948724 285 static char global_direction;
mjhaugsdal 3:15be78948724 286 printf("Started");
mjhaugsdal 3:15be78948724 287
mjhaugsdal 5:fdc7a779d525 288
mjhaugsdal 1:a3287196a9b3 289 while (true)
mjhaugsdal 1:a3287196a9b3 290 {
mjhaugsdal 4:4d655fdae399 291 //Thread::wait(5);
mjhaugsdal 3:15be78948724 292
mjhaugsdal 17:ff0021c4dcdc 293
mjhaugsdal 17:ff0021c4dcdc 294 if(m_cmd == 't')
mjhaugsdal 17:ff0021c4dcdc 295 {
mjhaugsdal 17:ff0021c4dcdc 296 stepAllLeft();
mjhaugsdal 17:ff0021c4dcdc 297
mjhaugsdal 17:ff0021c4dcdc 298 }
mjhaugsdal 17:ff0021c4dcdc 299 if(m_cmd == 'y')
mjhaugsdal 17:ff0021c4dcdc 300 {
mjhaugsdal 17:ff0021c4dcdc 301 stepAllRight();
mjhaugsdal 17:ff0021c4dcdc 302
mjhaugsdal 17:ff0021c4dcdc 303 }
mjhaugsdal 17:ff0021c4dcdc 304
mjhaugsdal 17:ff0021c4dcdc 305
mjhaugsdal 4:4d655fdae399 306 //0 STEPS LEFT AT MAX SPEED
mjhaugsdal 3:15be78948724 307 if (m_cmd == '0')
mjhaugsdal 3:15be78948724 308 {
mjhaugsdal 4:4d655fdae399 309 fart = 1000;
mjhaugsdal 5:fdc7a779d525 310 //global_direction = '0';
mjhaugsdal 17:ff0021c4dcdc 311 stepAllLeft();
mjhaugsdal 5:fdc7a779d525 312 //steps = steps + step;
mjhaugsdal 5:fdc7a779d525 313
mjhaugsdal 5:fdc7a779d525 314
mjhaugsdal 4:4d655fdae399 315 //printf("LEFT \n");
mjhaugsdal 3:15be78948724 316 //printf("%c \n" + global_direction);
mjhaugsdal 3:15be78948724 317 }
mjhaugsdal 4:4d655fdae399 318 //1 STEPS RIGHT AT MAX SPEED
mjhaugsdal 3:15be78948724 319 else if (m_cmd == '1')
mjhaugsdal 3:15be78948724 320 {
mjhaugsdal 4:4d655fdae399 321 fart = 1000;
mjhaugsdal 5:fdc7a779d525 322 //global_direction = '1';
mjhaugsdal 17:ff0021c4dcdc 323 stepAllRight();
mjhaugsdal 3:15be78948724 324 }
mjhaugsdal 4:4d655fdae399 325 else
mjhaugsdal 4:4d655fdae399 326 {
mjhaugsdal 5:fdc7a779d525 327 //global_direction = 'x';
mjhaugsdal 4:4d655fdae399 328 }
mjhaugsdal 6:ac5d277bd497 329
mjhaugsdal 3:15be78948724 330 if (m_cmd == 'a')
mjhaugsdal 3:15be78948724 331 {
mjhaugsdal 4:4d655fdae399 332 fart = 2000;
mjhaugsdal 5:fdc7a779d525 333 //global_direction = '1';
mjhaugsdal 17:ff0021c4dcdc 334 stepAllRight();
mjhaugsdal 5:fdc7a779d525 335 //steps = steps + step;
mjhaugsdal 5:fdc7a779d525 336 // printf("%i", &steps);
mjhaugsdal 3:15be78948724 337
mjhaugsdal 3:15be78948724 338 }
mjhaugsdal 4:4d655fdae399 339
mjhaugsdal 4:4d655fdae399 340 else if (m_cmd == 'c')
mjhaugsdal 3:15be78948724 341 {
mjhaugsdal 4:4d655fdae399 342 fart = 2000;
mjhaugsdal 5:fdc7a779d525 343 //global_direction = '0';
mjhaugsdal 17:ff0021c4dcdc 344 stepAllLeft();
mjhaugsdal 5:fdc7a779d525 345
mjhaugsdal 5:fdc7a779d525 346 //steps = steps + step;
mjhaugsdal 5:fdc7a779d525 347 // printf("%i", &steps);
mjhaugsdal 3:15be78948724 348 }
mjhaugsdal 5:fdc7a779d525 349 else if (m_cmd == 'k')
mjhaugsdal 1:a3287196a9b3 350 {
mjhaugsdal 6:ac5d277bd497 351 int steps = 242;
mjhaugsdal 5:fdc7a779d525 352
mjhaugsdal 5:fdc7a779d525 353
mjhaugsdal 6:ac5d277bd497 354 //Steps = 242 gives a 60' rotation to the left.
mjhaugsdal 5:fdc7a779d525 355 while (steps >= 0)
mjhaugsdal 5:fdc7a779d525 356 {
mjhaugsdal 17:ff0021c4dcdc 357 stepAllLeft();
mjhaugsdal 5:fdc7a779d525 358 steps--;
mjhaugsdal 5:fdc7a779d525 359 }
mjhaugsdal 5:fdc7a779d525 360 m_cmd = 'x';
mjhaugsdal 3:15be78948724 361 }
mjhaugsdal 5:fdc7a779d525 362 else if (m_cmd == 'l')
mjhaugsdal 5:fdc7a779d525 363 {
mjhaugsdal 6:ac5d277bd497 364 int steps = 242;
mjhaugsdal 6:ac5d277bd497 365 //Steps = 242 gives a 60' rotation to the right.
mjhaugsdal 5:fdc7a779d525 366 while (steps >= 0)
mjhaugsdal 5:fdc7a779d525 367 {
mjhaugsdal 17:ff0021c4dcdc 368 stepAllRight();
mjhaugsdal 5:fdc7a779d525 369 steps--;
mjhaugsdal 5:fdc7a779d525 370 }
mjhaugsdal 5:fdc7a779d525 371 m_cmd = 'x';
mjhaugsdal 5:fdc7a779d525 372
mjhaugsdal 5:fdc7a779d525 373 }
mjhaugsdal 5:fdc7a779d525 374
mjhaugsdal 5:fdc7a779d525 375
mjhaugsdal 5:fdc7a779d525 376
mjhaugsdal 4:4d655fdae399 377
mjhaugsdal 1:a3287196a9b3 378 }
mjhaugsdal 1:a3287196a9b3 379
mjhaugsdal 3:15be78948724 380 } //END Main