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
main.cpp
- Committer:
- mjhaugsdal
- Date:
- 2016-04-26
- Revision:
- 18:ef02a9014491
- Parent:
- 17:ff0021c4dcdc
- Child:
- 19:79600d3509d7
File content as of revision 18:ef02a9014491:
#include "mbed.h" #include "rtos.h" Serial pc(USBTX, USBRX); // tx, rx //Analog Pins //First engine DigitalOut IN1(A0); DigitalOut IN2(A1); DigitalOut IN3(A2); DigitalOut IN4(A3); //Second engine DigitalOut IN5(D3); DigitalOut IN6(D4); DigitalOut IN7(D5); DigitalOut IN8(D6); //Third Engine DigitalOut IN9(D8); DigitalOut IN10(D9); DigitalOut IN11(D10); DigitalOut IN12(D11); static int fart = 1000; static char m_cmd = 'x'; 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(fart); //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(fart); //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(fart); //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(fart); } 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(fart); //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(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(fart); //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(fart); } void stepEngine1Left() { //engine 1 IN1=1; IN2=0; IN3=0; IN4=1; wait_us(fart); IN1=1; IN2=0; IN3=1; IN4=0; wait_us(fart); IN1=0; IN2=1; IN3=1; IN4=0; wait_us(fart); IN1=0; IN2=1; IN3=0; IN4=1; wait_us(fart); } void stepEngine1Right() { //engine 1 IN1=0; IN2=1; IN3=0; IN4=1; wait_us(fart); IN1=0; IN2=1; IN3=1; IN4=0; wait_us(fart); IN1=1; IN2=0; IN3=1; IN4=0; wait_us(fart); IN1=1; IN2=0; IN3=0; IN4=1; wait_us(fart); } void stepEngine2Right() { //engine 1 IN5=0; IN6=1; IN7=0; IN8=1; wait_us(fart); IN5=0; IN6=1; IN7=1; IN8=0; wait_us(fart); IN5=1; IN6=0; IN7=1; IN8=0; wait_us(fart); IN5=1; IN6=0; IN7=0; IN8=1; wait_us(fart); } void stepEngine2Left() { //engine 1 IN5=1; IN6=0; IN7=0; IN8=1; wait_us(fart); IN5=1; IN6=0; IN7=1; IN8=0; wait_us(fart); IN5=0; IN6=1; IN7=1; IN8=0; wait_us(fart); IN5=0; IN6=1; IN7=0; IN8=1; wait_us(fart); } 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; } void input(void const *args) { while(true) { if(pc.readable()) { m_cmd=pc.getc(); } Thread::wait(10); //pc.printf("%d", steps); } } int main() { //Thread 1 has constant feed from usb Thread t1(input); static char global_direction; printf("Started"); while (true) { //Thread::wait(5); if(m_cmd == 't') { stepAllLeft(); } if(m_cmd == 'y') { stepAllRight(); } //0 STEPS LEFT AT MAX SPEED if (m_cmd == '0') { fart = 1000; //global_direction = '0'; stepAllLeft(); //steps = steps + step; //printf("LEFT \n"); //printf("%c \n" + global_direction); } //1 STEPS RIGHT AT MAX SPEED else if (m_cmd == '1') { fart = 1000; //global_direction = '1'; stepAllRight(); } else { //global_direction = 'x'; } if (m_cmd == 'a') { fart = 2000; //global_direction = '1'; stepAllRight(); //steps = steps + step; // printf("%i", &steps); } else if (m_cmd == 'c') { fart = 2000; //global_direction = '0'; stepAllLeft(); //steps = steps + step; // printf("%i", &steps); } else if (m_cmd == 'k') { int steps = 242; //Steps = 242 gives a 60' rotation to the left. while (steps >= 0) { stepAllLeft(); steps--; } m_cmd = 'x'; } else if (m_cmd == 'l') { int steps = 242; //Steps = 242 gives a 60' rotation to the right. while (steps >= 0) { stepAllRight(); steps--; } m_cmd = 'x'; } if (m_cmd == 'z') { stopAll(); } } } //END Main