File content as of revision 25:321b970eb3ff:

#include "mbed.h"
#include "rtos.h"
#include "PinDetect.h"

Serial pc(USBTX, USBRX); // tx, rx

//Mid
PinDetect pb3(A4);
PinDetect pb4(A5);

//Bottom
PinDetect pb1(D14);
PinDetect pb2(D15);

//Top
PinDetect pb5(D12);
PinDetect pb6(D13);

//Analog Pins
//First engine
DigitalOut IN1(A0);
DigitalOut IN2(A1);
DigitalOut IN3(A2);
DigitalOut IN4(A3);
//Second engine
DigitalOut IN5(D8);
DigitalOut IN6(D9);
DigitalOut IN7(D10);
DigitalOut IN8(D11);
//Third Engine
DigitalOut IN9(D3);
DigitalOut IN10(D4);
DigitalOut IN11(D5);
DigitalOut IN12(D6);


static int speed = 2000;
static int bootStep1 = 100;
static int bootStep2 = 100;
static int bootStep3 = 100;
static char m_cmd = 'x';
static bool e1 = true;
static bool e2 = true;
static bool e3 = true;
static bool rest = false;

static int steps1 = 0;
static int steps2 = 0;
static int steps3 = 0;


//Methods to set pins to control direction.
void stepAllRight()
{
    //engine 1
    IN1=0;
    IN2=1;
    IN3=0;
    IN4=1;
    //engine 2
    IN5=0;
    IN6=1;
    IN7=0;
    IN8=1;
    //engine 3
    IN9=0;
    IN10=1;
    IN11=0;
    IN12=1;
    wait_us(speed); //legg som global variabel "fart" 
    //engine 1
    IN1=0;
    IN2=1;
    IN3=1;
    IN4=0;
    //engine 2
    IN5=0;
    IN6=1;
    IN7=1;
    IN8=0;
    //engine 3
    IN9=0;
    IN10=1;
    IN11=1;
    IN12=0;
    wait_us(speed);
    //engine 1
    IN1=1;
    IN2=0;
    IN3=1;
    IN4=0;
    //engine 2
    IN5=1;
    IN6=0;
    IN7=1;
    IN8=0;
    //engine 3
    IN9=1;
    IN10=0;
    IN11=1;
    IN12=0;
    wait_us(speed);
    //engine 1
    IN1=1;
    IN2=0;
    IN3=0;
    IN4=1;
    //engine 2
    IN5=1;
    IN6=0;
    IN7=0;
    IN8=1;
    //engine 3
    IN9=1;
    IN10=0;
    IN11=0;
    IN12=1;
    wait_us(speed);
}
void stepAllLeft()
{
    //engine 1
    IN1=1;
    IN2=0;
    IN3=0;
    IN4=1;
    //engine 2
    IN5=1;
    IN6=0;
    IN7=0;
    IN8=1;
    //engine 3
    IN9=1;
    IN10=0;
    IN11=0;
    IN12=1;
    wait_us(speed);
    //engine 1
    IN1=1;
    IN2=0;
    IN3=1;
    IN4=0;
    //engine 2
    IN5=1;
    IN6=0;
    IN7=1;
    IN8=0;
    //engine 3
    IN9=1;
    IN10=0;
    IN11=1;
    IN12=0;
    wait_us(speed);
    //engine 1
    IN1=0;
    IN2=1;
    IN3=1;
    IN4=0;
    //engine 2
    IN5=0;
    IN6=1;
    IN7=1;
    IN8=0;
    //engine 3
    IN9=0;
    IN10=1;
    IN11=1;
    IN12=0;
    wait_us(speed);
    //engine 1
    IN1=0;
    IN2=1;
    IN3=0;
    IN4=1;
    //engine 2
    IN5=0;
    IN6=1;
    IN7=0;
    IN8=1;
    //engine 3
    IN9=0;
    IN10=1;
    IN11=0;
    IN12=1;
    wait_us(speed);
}

void stepEngine1Left()
{
    //engine 1
    IN1=1;
    IN2=0;
    IN3=0;
    IN4=1;
    wait_us(speed);
    IN1=1;
    IN2=0;
    IN3=1;
    IN4=0;
    wait_us(speed);
    IN1=0;
    IN2=1;
    IN3=1;
    IN4=0;
    wait_us(speed);
    IN1=0;
    IN2=1;
    IN3=0;
    IN4=1;
    wait_us(speed);
}

void stepEngine1Right()
{
    //engine 1
    IN1=0;
    IN2=1;
    IN3=0;
    IN4=1;
    wait_us(speed);
    IN1=0;
    IN2=1;
    IN3=1;
    IN4=0;
    wait_us(speed);
    IN1=1;
    IN2=0;
    IN3=1;
    IN4=0;
    wait_us(speed);
    IN1=1;
    IN2=0;
    IN3=0;
    IN4=1;
    wait_us(speed);
}

void stepEngine2Right()
{
    //engine 1
    IN5=0;
    IN6=1;
    IN7=0;
    IN8=1;
    wait_us(speed);
    IN5=0;
    IN6=1;
    IN7=1;
    IN8=0;
    wait_us(speed);
    IN5=1;
    IN6=0;
    IN7=1;
    IN8=0;
    wait_us(speed);
    IN5=1;
    IN6=0;
    IN7=0;
    IN8=1;
    wait_us(speed);
}

void stepEngine2Left()
{
    //engine 1
    IN5=1;
    IN6=0;
    IN7=0;
    IN8=1;
    wait_us(speed);
    IN5=1;
    IN6=0;
    IN7=1;
    IN8=0;
    wait_us(speed);
    IN5=0;
    IN6=1;
    IN7=1;
    IN8=0;
    wait_us(speed);
    IN5=0;
    IN6=1;
    IN7=0;
    IN8=1;
    wait_us(speed);
}

void stepEngine3Right()
{
    //engine 1
    IN9=0;
    IN10=1;
    IN11=0;
    IN12=1;
    wait_us(speed);
    IN9=0;
    IN10=1;
    IN11=1;
    IN12=0;
    wait_us(speed);
    IN9=1;
    IN10=0;
    IN11=1;
    IN12=0;
    wait_us(speed);
    IN9=1;
    IN10=0;
    IN11=0;
    IN12=1;
    wait_us(speed);
}

void stepEngine3Left()
{
    //engine 1
    IN9=1;
    IN10=0;
    IN11=0;
    IN12=1;
    wait_us(speed);
    IN9=1;
    IN10=0;
    IN11=1;
    IN12=0;
    wait_us(speed);
    IN9=0;
    IN10=1;
    IN11=1;
    IN12=0;
    wait_us(speed);
    IN9=0;
    IN10=1;
    IN11=0;
    IN12=1;
    wait_us(speed);
}


void step1()
{
    //engine 1
    IN1=1;
    IN2=0;
    IN3=0;
    IN4=1;
}

void step2()
{
    //engine 1
    IN1=0;
    IN2=1;
    IN3=0;
    IN4=1;
}

void wait()
{
    wait_us(speed);
    
}

//Method to release all engines.
void stopAll()
{
    IN1=0;
    IN2=0;
    IN3=0;
    IN4=0;
    IN5=0;
    IN6=0;
    IN7=0;
    IN8=0;
    IN9=0;
    IN10=0;
    IN11=0;
    IN12=0;
}

//Methods to release single engines.
void stopE1()
{
    IN1=0;
    IN2=0;
    IN3=0;
    IN4=0;
    
}
void stopE2()
{
    IN5=0;
    IN6=0;
    IN7=0;
    IN8=0;
    
}
void stopE3()
{
    IN9=0;
    IN10=0;
    IN11=0;
    IN12=0;
    
}







void input(void const *args)
{
    while(true)
    {

        if(pc.readable()) 
        { m_cmd=pc.getc(); 
        
        }
         
        Thread::wait(100);
        //pc.printf("%d", steps);
        
    }
}


//MOTOR 1 LEFT SIDE BUTTON
void pb1_hit_callback (void) 
{
    if(rest == false)
    {
        e1 = false;
        
        speed = 2000;
        Thread::wait(1000);
        int stepsToCenter = 242;
                    
        while (stepsToCenter >= 0)
        {
            stepEngine1Right();
            stepsToCenter --;
        }
            //break;
        //end if    
    }
    
    
    
}


//MOTOR 1 RIGHT SIDE BUTTON
void pb2_hit_callback (void) 
{
    if(rest == false)
    {
        e1 = false;
        //m_cmd = 'x';
    
        speed = 2000;
        Thread::wait(1000);
        int stepsToCenter = 242;
                    
        while (stepsToCenter >= 0)
        {
            stepEngine1Left();
            stepsToCenter --;
        }
    }
  
}
//MOTOR 2 LEFT SIDE BUTTON
void pb3_hit_callback (void) 
{
    if(rest == false)
    {
        e2 = false;
        //m_cmd = 'x';
        speed = 2000;
        Thread::wait(1000);
        int stepsToCenter = 242;
                    
        while (stepsToCenter >= 0)
        {
            stepEngine2Left();
            stepsToCenter --;
        }
    }

}

//MOTOR 2 RIGHT SIDE BUTTON
void pb4_hit_callback (void) 
{
    if(rest == false)
    {
        e2 = false;
        //m_cmd = 'x';
        speed = 2000;
        Thread::wait(1000);
        int stepsToCenter = 242;
                    
        while (stepsToCenter >= 0)
        {
            stepEngine2Right();
            stepsToCenter --;
        }
    }


}

//MOTOR 3 LEFT SIDE BUTTON
void pb5_hit_callback (void) 
{
    if(rest == false)
    {
        e3 = false;
        //m_cmd = 'x';
        speed = 2000;
        Thread::wait(1000);
        int stepsToCenter = 242;
                    
        while (stepsToCenter >= 0)
        {
            stepEngine3Left();
            stepsToCenter --;
        }
    }


}
//MOTOR 3 RIGHT SIDE BUTTON
void pb6_hit_callback (void) 
{
    if(rest == false)
    {
        e3 = false;
        //m_cmd = 'x';
        speed = 2000;
        Thread::wait(1000);
        int stepsToCenter = 242;
                    
        while (stepsToCenter >= 0)
        {
            stepEngine3Right();
            stepsToCenter --;
        }
    }
}

int main()
{

        pb1.mode(PullUp);
        pb2.mode(PullUp);
        pb3.mode(PullUp);
        pb4.mode(PullUp);
        pb5.mode(PullUp);
        pb6.mode(PullUp);
        
        //Set up buttons 1 and 2
        pb1.attach_deasserted(&pb1_hit_callback);
        pb1.setSampleFrequency();
        pb2.attach_deasserted(&pb2_hit_callback);
        pb2.setSampleFrequency();

        //Thread 1 has constant feed from usb
        Thread t1(input);
        //static char global_direction;
        printf("Started");
        
        // Move motor in one direction
        while (true)
        {
            speed = 2000;

            while(bootStep1 >= 0)
            {
                bootStep1--;
                stepEngine1Right();   
            }
            stepEngine1Left();
            if (e1 == false) 
            {
                Thread::wait(1000);
                break; 
            }//end if
           
        }//end while
        
        //Set up buttons 3 and 4
        pb3.attach_deasserted(&pb3_hit_callback);
        pb3.setSampleFrequency();
        pb4.attach_deasserted(&pb4_hit_callback);
        pb4.setSampleFrequency();
        
        while (true)
        {
            
            speed = 2000;
            while(bootStep2 >= 0)
            {
                bootStep2--;
                stepEngine2Right();
                
            }

            stepEngine2Left();
            if (e2 == false) 
            {
                pc.printf("HALLO");
                
                Thread::wait(1000);
                break;
            }//end if
        }
        
        pb5.attach_deasserted(&pb5_hit_callback);
        pb5.setSampleFrequency();
        pb6.attach_deasserted(&pb6_hit_callback);
        pb6.setSampleFrequency();
        while (true)
        {
            speed = 2000;
            while(bootStep3 >= 0)
            {
                bootStep3--;
                stepEngine3Right();
                
            }
            stepEngine3Left();
            if (e3 == false) 
            {
                pc.printf("HALLO");
                Thread::wait(1000);
                break;
            }//end if
        }

        while (true) 
        {   
            speed = 1500;
            

            //Release all motors / Set all pins to 0
            if (m_cmd == 'z')
            {
                stopAll();
            } 
            //Make all engines halt and hold still. 
            if (m_cmd == 'x')
            {
            }
            
            //Rest mode. Make the engines ignore pushbuttons.
            /*
            if(m_cmd == 'r')
            {
                rest = true;
                //Step motors to rest position
                
                
            }
            */
  
            //Controlling each motor seperately.
            //ENGINE 3
            if(m_cmd == '7' && steps3 > -242)
            {
                rest = false;
                
                steps3 --;
                stepEngine3Left();
            }
            else if (m_cmd == '9' && steps3 < 242)
            { 
                rest = false;
                stepEngine3Right();
                steps3 ++;
            }
            //ENGINE 2
            else if (m_cmd == '4' && steps2 > -242)
            {
                rest = false;
                steps2 --;
                stepEngine2Left();
            }
            else if (m_cmd == '6' && steps2 < 242)
            {
                rest = false;
                steps2 ++;
                stepEngine2Right();
            }
            //ENGINE 3
            else if (m_cmd == '1' && steps1 > -242)
            {
                rest = false;
                steps1--;
                stepEngine1Left();
            }
            else if (m_cmd == '3' && steps1 < 242)
            {
                rest = false;
                steps1++;
                stepEngine1Right();
            }
            



        //Thread::wait(10);
        //pc.printf("%d", steps2);


        }  //END WHILE TRUE
            
} //END Main