File content as of revision 17:ff0021c4dcdc:

#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 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';
                
            }
            



        }  
            
} //END Main