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@8:5703dadaed07, 2016-04-26 (annotated)
- Committer:
- mjhaugsdal
- Date:
- Tue Apr 26 11:03:23 2016 +0000
- Revision:
- 8:5703dadaed07
- Parent:
- 7:ba0caeb296bb
- Child:
- 9:1636083fce43
Motor control 3 engines
Who changed what in which revision?
User | Revision | Line number | New 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 | 7:ba0caeb296bb | 7 | //First engine 1-4 |
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 | 7:ba0caeb296bb | 12 | //Second engine 5-8 |
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 | 7:ba0caeb296bb | 17 | //Third engine 9-12 |
mjhaugsdal | 7:ba0caeb296bb | 18 | DigitalOut IN9(D8); |
mjhaugsdal | 7:ba0caeb296bb | 19 | DigitalOut IN10(D9); |
mjhaugsdal | 7:ba0caeb296bb | 20 | DigitalOut IN11(D10); |
mjhaugsdal | 7:ba0caeb296bb | 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 | |
mjhaugsdal | 7:ba0caeb296bb | 27 | void step4Right3() |
rlanghbv | 0:bd78e433db61 | 28 | { |
mjhaugsdal | 7:ba0caeb296bb | 29 | |
mjhaugsdal | 7:ba0caeb296bb | 30 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 31 | IN9=0; |
mjhaugsdal | 7:ba0caeb296bb | 32 | IN10=1; |
mjhaugsdal | 7:ba0caeb296bb | 33 | IN11=0; |
mjhaugsdal | 7:ba0caeb296bb | 34 | IN12=1; |
mjhaugsdal | 7:ba0caeb296bb | 35 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 36 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 37 | IN9=0; |
mjhaugsdal | 7:ba0caeb296bb | 38 | IN10=1; |
mjhaugsdal | 7:ba0caeb296bb | 39 | IN11=1; |
mjhaugsdal | 7:ba0caeb296bb | 40 | IN12=0; |
mjhaugsdal | 7:ba0caeb296bb | 41 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 42 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 43 | IN9=1; |
mjhaugsdal | 7:ba0caeb296bb | 44 | IN10=0; |
mjhaugsdal | 7:ba0caeb296bb | 45 | IN11=1; |
mjhaugsdal | 7:ba0caeb296bb | 46 | IN12=0; |
mjhaugsdal | 7:ba0caeb296bb | 47 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 48 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 49 | IN9=1; |
mjhaugsdal | 7:ba0caeb296bb | 50 | IN10=0; |
mjhaugsdal | 7:ba0caeb296bb | 51 | IN11=0; |
mjhaugsdal | 7:ba0caeb296bb | 52 | IN12=1; |
mjhaugsdal | 7:ba0caeb296bb | 53 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 54 | } |
mjhaugsdal | 7:ba0caeb296bb | 55 | |
mjhaugsdal | 7:ba0caeb296bb | 56 | void step4Right2() |
mjhaugsdal | 7:ba0caeb296bb | 57 | { |
mjhaugsdal | 7:ba0caeb296bb | 58 | |
mjhaugsdal | 7:ba0caeb296bb | 59 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 60 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 61 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 62 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 63 | IN8=1; |
mjhaugsdal | 7:ba0caeb296bb | 64 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 65 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 66 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 67 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 68 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 69 | IN8=0; |
mjhaugsdal | 1:a3287196a9b3 | 70 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 71 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 72 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 73 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 74 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 75 | IN8=0; |
mjhaugsdal | 1:a3287196a9b3 | 76 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 77 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 78 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 79 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 80 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 81 | IN8=1; |
mjhaugsdal | 1:a3287196a9b3 | 82 | wait_us(fart); |
rlanghbv | 0:bd78e433db61 | 83 | } |
mjhaugsdal | 7:ba0caeb296bb | 84 | void step4Right1() |
rlanghbv | 0:bd78e433db61 | 85 | { |
mjhaugsdal | 6:ac5d277bd497 | 86 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 87 | IN1=0; |
mjhaugsdal | 7:ba0caeb296bb | 88 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 89 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 90 | IN4=1; |
mjhaugsdal | 7:ba0caeb296bb | 91 | wait_us(fart); //legg som global variabel "fart" |
mjhaugsdal | 7:ba0caeb296bb | 92 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 93 | IN1=0; |
mjhaugsdal | 7:ba0caeb296bb | 94 | IN2=1; |
mjhaugsdal | 7:ba0caeb296bb | 95 | IN3=1; |
mjhaugsdal | 7:ba0caeb296bb | 96 | IN4=0; |
mjhaugsdal | 1:a3287196a9b3 | 97 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 98 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 99 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 100 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 101 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 102 | IN4=0; |
mjhaugsdal | 7:ba0caeb296bb | 103 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 104 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 105 | IN1=1; |
mjhaugsdal | 7:ba0caeb296bb | 106 | IN2=0; |
mjhaugsdal | 7:ba0caeb296bb | 107 | IN3=0; |
mjhaugsdal | 7:ba0caeb296bb | 108 | IN4=1; |
mjhaugsdal | 7:ba0caeb296bb | 109 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 110 | } |
mjhaugsdal | 7:ba0caeb296bb | 111 | |
mjhaugsdal | 7:ba0caeb296bb | 112 | void step4Left3() |
mjhaugsdal | 7:ba0caeb296bb | 113 | { |
mjhaugsdal | 7:ba0caeb296bb | 114 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 115 | IN9=1; |
mjhaugsdal | 7:ba0caeb296bb | 116 | IN10=0; |
mjhaugsdal | 7:ba0caeb296bb | 117 | IN11=0; |
mjhaugsdal | 7:ba0caeb296bb | 118 | IN12=1; |
mjhaugsdal | 7:ba0caeb296bb | 119 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 120 | |
mjhaugsdal | 7:ba0caeb296bb | 121 | |
mjhaugsdal | 7:ba0caeb296bb | 122 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 123 | IN9=1; |
mjhaugsdal | 7:ba0caeb296bb | 124 | IN10=0; |
mjhaugsdal | 7:ba0caeb296bb | 125 | IN11=1; |
mjhaugsdal | 7:ba0caeb296bb | 126 | IN12=0; |
mjhaugsdal | 7:ba0caeb296bb | 127 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 128 | |
mjhaugsdal | 7:ba0caeb296bb | 129 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 130 | IN9=0; |
mjhaugsdal | 7:ba0caeb296bb | 131 | IN10=1; |
mjhaugsdal | 7:ba0caeb296bb | 132 | IN11=1; |
mjhaugsdal | 7:ba0caeb296bb | 133 | IN12=0; |
mjhaugsdal | 7:ba0caeb296bb | 134 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 135 | |
mjhaugsdal | 7:ba0caeb296bb | 136 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 137 | IN9=0; |
mjhaugsdal | 7:ba0caeb296bb | 138 | IN10=1; |
mjhaugsdal | 7:ba0caeb296bb | 139 | IN11=0; |
mjhaugsdal | 7:ba0caeb296bb | 140 | IN12=1; |
mjhaugsdal | 7:ba0caeb296bb | 141 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 142 | |
mjhaugsdal | 7:ba0caeb296bb | 143 | } |
mjhaugsdal | 7:ba0caeb296bb | 144 | |
mjhaugsdal | 7:ba0caeb296bb | 145 | |
mjhaugsdal | 7:ba0caeb296bb | 146 | void step4Left2() |
mjhaugsdal | 7:ba0caeb296bb | 147 | { |
mjhaugsdal | 7:ba0caeb296bb | 148 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 149 | IN5=1; |
mjhaugsdal | 7:ba0caeb296bb | 150 | IN6=0; |
mjhaugsdal | 7:ba0caeb296bb | 151 | IN7=0; |
mjhaugsdal | 7:ba0caeb296bb | 152 | IN8=1; |
mjhaugsdal | 7:ba0caeb296bb | 153 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 154 | |
mjhaugsdal | 7:ba0caeb296bb | 155 | |
mjhaugsdal | 6:ac5d277bd497 | 156 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 157 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 158 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 159 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 160 | IN8=0; |
mjhaugsdal | 1:a3287196a9b3 | 161 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 162 | |
mjhaugsdal | 7:ba0caeb296bb | 163 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 164 | IN5=0; |
mjhaugsdal | 7:ba0caeb296bb | 165 | IN6=1; |
mjhaugsdal | 7:ba0caeb296bb | 166 | IN7=1; |
mjhaugsdal | 7:ba0caeb296bb | 167 | IN8=0; |
mjhaugsdal | 7:ba0caeb296bb | 168 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 169 | |
mjhaugsdal | 7:ba0caeb296bb | 170 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 171 | IN5=0; |
mjhaugsdal | 7:ba0caeb296bb | 172 | IN6=1; |
mjhaugsdal | 7:ba0caeb296bb | 173 | IN7=0; |
mjhaugsdal | 7:ba0caeb296bb | 174 | IN8=1; |
mjhaugsdal | 7:ba0caeb296bb | 175 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 176 | |
mjhaugsdal | 7:ba0caeb296bb | 177 | } |
mjhaugsdal | 7:ba0caeb296bb | 178 | |
mjhaugsdal | 7:ba0caeb296bb | 179 | void step4Left1() |
mjhaugsdal | 7:ba0caeb296bb | 180 | { |
mjhaugsdal | 7:ba0caeb296bb | 181 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 182 | IN1=1; |
mjhaugsdal | 7:ba0caeb296bb | 183 | IN2=0; |
mjhaugsdal | 7:ba0caeb296bb | 184 | IN3=0; |
mjhaugsdal | 7:ba0caeb296bb | 185 | IN4=1; |
mjhaugsdal | 7:ba0caeb296bb | 186 | |
mjhaugsdal | 7:ba0caeb296bb | 187 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 188 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 189 | IN1=1; |
mjhaugsdal | 7:ba0caeb296bb | 190 | IN2=0; |
mjhaugsdal | 7:ba0caeb296bb | 191 | IN3=1; |
mjhaugsdal | 7:ba0caeb296bb | 192 | IN4=0; |
mjhaugsdal | 7:ba0caeb296bb | 193 | |
mjhaugsdal | 7:ba0caeb296bb | 194 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 195 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 196 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 197 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 198 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 199 | IN4=0; |
mjhaugsdal | 7:ba0caeb296bb | 200 | |
mjhaugsdal | 1:a3287196a9b3 | 201 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 202 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 203 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 204 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 205 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 206 | IN4=1; |
mjhaugsdal | 7:ba0caeb296bb | 207 | |
mjhaugsdal | 1:a3287196a9b3 | 208 | wait_us(fart); |
rlanghbv | 0:bd78e433db61 | 209 | } |
rlanghbv | 0:bd78e433db61 | 210 | |
mjhaugsdal | 1:a3287196a9b3 | 211 | |
mjhaugsdal | 1:a3287196a9b3 | 212 | void input(void const *args) |
mjhaugsdal | 1:a3287196a9b3 | 213 | { |
mjhaugsdal | 1:a3287196a9b3 | 214 | while(true) |
mjhaugsdal | 1:a3287196a9b3 | 215 | { |
mjhaugsdal | 3:15be78948724 | 216 | |
rlanghbv | 2:25bcc26f7a5b | 217 | if(pc.readable()) |
mjhaugsdal | 3:15be78948724 | 218 | { m_cmd=pc.getc(); |
mjhaugsdal | 3:15be78948724 | 219 | |
mjhaugsdal | 3:15be78948724 | 220 | } |
rlanghbv | 2:25bcc26f7a5b | 221 | |
rlanghbv | 2:25bcc26f7a5b | 222 | Thread::wait(10); |
mjhaugsdal | 5:fdc7a779d525 | 223 | //pc.printf("%d", steps); |
mjhaugsdal | 1:a3287196a9b3 | 224 | } |
mjhaugsdal | 1:a3287196a9b3 | 225 | } |
rlanghbv | 0:bd78e433db61 | 226 | |
rlanghbv | 0:bd78e433db61 | 227 | int main() |
rlanghbv | 0:bd78e433db61 | 228 | { |
mjhaugsdal | 1:a3287196a9b3 | 229 | //Thread 1 has constant feed from usb |
rlanghbv | 2:25bcc26f7a5b | 230 | Thread t1(input); |
mjhaugsdal | 3:15be78948724 | 231 | static char global_direction; |
mjhaugsdal | 3:15be78948724 | 232 | printf("Started"); |
mjhaugsdal | 3:15be78948724 | 233 | |
mjhaugsdal | 5:fdc7a779d525 | 234 | |
mjhaugsdal | 1:a3287196a9b3 | 235 | while (true) |
mjhaugsdal | 1:a3287196a9b3 | 236 | { |
mjhaugsdal | 4:4d655fdae399 | 237 | //Thread::wait(5); |
mjhaugsdal | 3:15be78948724 | 238 | |
mjhaugsdal | 7:ba0caeb296bb | 239 | if (m_cmd == 't') |
mjhaugsdal | 7:ba0caeb296bb | 240 | |
mjhaugsdal | 7:ba0caeb296bb | 241 | { |
mjhaugsdal | 7:ba0caeb296bb | 242 | step4Left1(); |
mjhaugsdal | 7:ba0caeb296bb | 243 | } |
mjhaugsdal | 7:ba0caeb296bb | 244 | |
mjhaugsdal | 4:4d655fdae399 | 245 | //0 STEPS LEFT AT MAX SPEED |
mjhaugsdal | 3:15be78948724 | 246 | if (m_cmd == '0') |
mjhaugsdal | 3:15be78948724 | 247 | { |
mjhaugsdal | 4:4d655fdae399 | 248 | fart = 1000; |
mjhaugsdal | 5:fdc7a779d525 | 249 | //global_direction = '0'; |
mjhaugsdal | 7:ba0caeb296bb | 250 | step4Left1(); |
mjhaugsdal | 8:5703dadaed07 | 251 | //step4Left2(); |
mjhaugsdal | 8:5703dadaed07 | 252 | //step4Left3(); |
mjhaugsdal | 5:fdc7a779d525 | 253 | //steps = steps + step; |
mjhaugsdal | 5:fdc7a779d525 | 254 | |
mjhaugsdal | 5:fdc7a779d525 | 255 | |
mjhaugsdal | 4:4d655fdae399 | 256 | //printf("LEFT \n"); |
mjhaugsdal | 3:15be78948724 | 257 | //printf("%c \n" + global_direction); |
mjhaugsdal | 3:15be78948724 | 258 | } |
mjhaugsdal | 4:4d655fdae399 | 259 | //1 STEPS RIGHT AT MAX SPEED |
mjhaugsdal | 3:15be78948724 | 260 | else if (m_cmd == '1') |
mjhaugsdal | 3:15be78948724 | 261 | { |
mjhaugsdal | 4:4d655fdae399 | 262 | fart = 1000; |
mjhaugsdal | 5:fdc7a779d525 | 263 | //global_direction = '1'; |
mjhaugsdal | 7:ba0caeb296bb | 264 | step4Right1(); |
mjhaugsdal | 8:5703dadaed07 | 265 | //step4Right2(); |
mjhaugsdal | 8:5703dadaed07 | 266 | // step4Right3(); |
mjhaugsdal | 3:15be78948724 | 267 | } |
mjhaugsdal | 4:4d655fdae399 | 268 | else |
mjhaugsdal | 4:4d655fdae399 | 269 | { |
mjhaugsdal | 5:fdc7a779d525 | 270 | //global_direction = 'x'; |
mjhaugsdal | 4:4d655fdae399 | 271 | } |
mjhaugsdal | 6:ac5d277bd497 | 272 | |
mjhaugsdal | 3:15be78948724 | 273 | if (m_cmd == 'a') |
mjhaugsdal | 3:15be78948724 | 274 | { |
mjhaugsdal | 4:4d655fdae399 | 275 | fart = 2000; |
mjhaugsdal | 5:fdc7a779d525 | 276 | //global_direction = '1'; |
mjhaugsdal | 7:ba0caeb296bb | 277 | step4Right1(); |
mjhaugsdal | 8:5703dadaed07 | 278 | //step4Right2(); |
mjhaugsdal | 8:5703dadaed07 | 279 | //step4Right3(); |
mjhaugsdal | 5:fdc7a779d525 | 280 | //steps = steps + step; |
mjhaugsdal | 5:fdc7a779d525 | 281 | // printf("%i", &steps); |
mjhaugsdal | 3:15be78948724 | 282 | |
mjhaugsdal | 3:15be78948724 | 283 | } |
mjhaugsdal | 4:4d655fdae399 | 284 | |
mjhaugsdal | 4:4d655fdae399 | 285 | else if (m_cmd == 'c') |
mjhaugsdal | 3:15be78948724 | 286 | { |
mjhaugsdal | 4:4d655fdae399 | 287 | fart = 2000; |
mjhaugsdal | 5:fdc7a779d525 | 288 | //global_direction = '0'; |
mjhaugsdal | 7:ba0caeb296bb | 289 | step4Left1(); |
mjhaugsdal | 8:5703dadaed07 | 290 | //step4Left2(); |
mjhaugsdal | 8:5703dadaed07 | 291 | //step4Left3(); |
mjhaugsdal | 5:fdc7a779d525 | 292 | |
mjhaugsdal | 5:fdc7a779d525 | 293 | //steps = steps + step; |
mjhaugsdal | 5:fdc7a779d525 | 294 | // printf("%i", &steps); |
mjhaugsdal | 3:15be78948724 | 295 | } |
mjhaugsdal | 5:fdc7a779d525 | 296 | else if (m_cmd == 'k') |
mjhaugsdal | 1:a3287196a9b3 | 297 | { |
mjhaugsdal | 8:5703dadaed07 | 298 | int steps = 50; |
mjhaugsdal | 5:fdc7a779d525 | 299 | |
mjhaugsdal | 5:fdc7a779d525 | 300 | |
mjhaugsdal | 6:ac5d277bd497 | 301 | //Steps = 242 gives a 60' rotation to the left. |
mjhaugsdal | 5:fdc7a779d525 | 302 | while (steps >= 0) |
mjhaugsdal | 5:fdc7a779d525 | 303 | { |
mjhaugsdal | 7:ba0caeb296bb | 304 | step4Left1(); |
mjhaugsdal | 8:5703dadaed07 | 305 | //step4Left2(); |
mjhaugsdal | 8:5703dadaed07 | 306 | //step4Left3(); |
mjhaugsdal | 5:fdc7a779d525 | 307 | steps--; |
mjhaugsdal | 5:fdc7a779d525 | 308 | } |
mjhaugsdal | 5:fdc7a779d525 | 309 | m_cmd = 'x'; |
mjhaugsdal | 3:15be78948724 | 310 | } |
mjhaugsdal | 5:fdc7a779d525 | 311 | else if (m_cmd == 'l') |
mjhaugsdal | 5:fdc7a779d525 | 312 | { |
mjhaugsdal | 6:ac5d277bd497 | 313 | int steps = 242; |
mjhaugsdal | 6:ac5d277bd497 | 314 | //Steps = 242 gives a 60' rotation to the right. |
mjhaugsdal | 5:fdc7a779d525 | 315 | while (steps >= 0) |
mjhaugsdal | 5:fdc7a779d525 | 316 | { |
mjhaugsdal | 7:ba0caeb296bb | 317 | step4Right1(); |
mjhaugsdal | 8:5703dadaed07 | 318 | //step4Right2(); |
mjhaugsdal | 8:5703dadaed07 | 319 | //step4Right3(); |
mjhaugsdal | 5:fdc7a779d525 | 320 | steps--; |
mjhaugsdal | 5:fdc7a779d525 | 321 | } |
mjhaugsdal | 5:fdc7a779d525 | 322 | m_cmd = 'x'; |
mjhaugsdal | 5:fdc7a779d525 | 323 | |
mjhaugsdal | 5:fdc7a779d525 | 324 | } |
mjhaugsdal | 5:fdc7a779d525 | 325 | |
mjhaugsdal | 5:fdc7a779d525 | 326 | |
mjhaugsdal | 5:fdc7a779d525 | 327 | |
mjhaugsdal | 4:4d655fdae399 | 328 | |
mjhaugsdal | 1:a3287196a9b3 | 329 | } |
mjhaugsdal | 1:a3287196a9b3 | 330 | |
mjhaugsdal | 3:15be78948724 | 331 | } //END Main |