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@12:de8381ca371d, 2016-04-26 (annotated)
- Committer:
- mjhaugsdal
- Date:
- Tue Apr 26 13:39:14 2016 +0000
- Revision:
- 12:de8381ca371d
- Parent:
- 11:ef54754100ea
- Child:
- 13:9aa772ae6057
Added void methods to each thread
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 | 10:17a16ceb376b | 13 | |
mjhaugsdal | 6:ac5d277bd497 | 14 | DigitalOut IN5(D3); |
mjhaugsdal | 6:ac5d277bd497 | 15 | DigitalOut IN6(D4); |
mjhaugsdal | 6:ac5d277bd497 | 16 | DigitalOut IN7(D5); |
mjhaugsdal | 11:ef54754100ea | 17 | DigitalOut IN8(D6); |
mjhaugsdal | 10:17a16ceb376b | 18 | /* |
mjhaugsdal | 7:ba0caeb296bb | 19 | //Third engine 9-12 |
mjhaugsdal | 7:ba0caeb296bb | 20 | DigitalOut IN9(D8); |
mjhaugsdal | 7:ba0caeb296bb | 21 | DigitalOut IN10(D9); |
mjhaugsdal | 7:ba0caeb296bb | 22 | DigitalOut IN11(D10); |
mjhaugsdal | 9:1636083fce43 | 23 | DigitalOut IN12(D11); */ |
mjhaugsdal | 5:fdc7a779d525 | 24 | |
rlanghbv | 0:bd78e433db61 | 25 | |
mjhaugsdal | 1:a3287196a9b3 | 26 | static int fart = 1000; |
mjhaugsdal | 3:15be78948724 | 27 | static char m_cmd = 'x'; |
mjhaugsdal | 9:1636083fce43 | 28 | /* |
mjhaugsdal | 7:ba0caeb296bb | 29 | void step4Right3() |
rlanghbv | 0:bd78e433db61 | 30 | { |
mjhaugsdal | 7:ba0caeb296bb | 31 | |
mjhaugsdal | 7:ba0caeb296bb | 32 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 33 | IN9=0; |
mjhaugsdal | 7:ba0caeb296bb | 34 | IN10=1; |
mjhaugsdal | 7:ba0caeb296bb | 35 | IN11=0; |
mjhaugsdal | 7:ba0caeb296bb | 36 | IN12=1; |
mjhaugsdal | 7:ba0caeb296bb | 37 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 38 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 39 | IN9=0; |
mjhaugsdal | 7:ba0caeb296bb | 40 | IN10=1; |
mjhaugsdal | 7:ba0caeb296bb | 41 | IN11=1; |
mjhaugsdal | 7:ba0caeb296bb | 42 | IN12=0; |
mjhaugsdal | 7:ba0caeb296bb | 43 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 44 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 45 | IN9=1; |
mjhaugsdal | 7:ba0caeb296bb | 46 | IN10=0; |
mjhaugsdal | 7:ba0caeb296bb | 47 | IN11=1; |
mjhaugsdal | 7:ba0caeb296bb | 48 | IN12=0; |
mjhaugsdal | 7:ba0caeb296bb | 49 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 50 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 51 | IN9=1; |
mjhaugsdal | 7:ba0caeb296bb | 52 | IN10=0; |
mjhaugsdal | 7:ba0caeb296bb | 53 | IN11=0; |
mjhaugsdal | 7:ba0caeb296bb | 54 | IN12=1; |
mjhaugsdal | 7:ba0caeb296bb | 55 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 56 | } |
mjhaugsdal | 10:17a16ceb376b | 57 | */ |
mjhaugsdal | 7:ba0caeb296bb | 58 | |
mjhaugsdal | 10:17a16ceb376b | 59 | |
mjhaugsdal | 7:ba0caeb296bb | 60 | void step4Right1() |
rlanghbv | 0:bd78e433db61 | 61 | { |
mjhaugsdal | 6:ac5d277bd497 | 62 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 63 | IN1=0; |
mjhaugsdal | 7:ba0caeb296bb | 64 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 65 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 66 | IN4=1; |
mjhaugsdal | 7:ba0caeb296bb | 67 | wait_us(fart); //legg som global variabel "fart" |
mjhaugsdal | 7:ba0caeb296bb | 68 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 69 | IN1=0; |
mjhaugsdal | 7:ba0caeb296bb | 70 | IN2=1; |
mjhaugsdal | 7:ba0caeb296bb | 71 | IN3=1; |
mjhaugsdal | 7:ba0caeb296bb | 72 | IN4=0; |
mjhaugsdal | 1:a3287196a9b3 | 73 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 74 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 75 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 76 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 77 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 78 | IN4=0; |
mjhaugsdal | 7:ba0caeb296bb | 79 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 80 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 81 | IN1=1; |
mjhaugsdal | 7:ba0caeb296bb | 82 | IN2=0; |
mjhaugsdal | 7:ba0caeb296bb | 83 | IN3=0; |
mjhaugsdal | 7:ba0caeb296bb | 84 | IN4=1; |
mjhaugsdal | 7:ba0caeb296bb | 85 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 86 | } |
mjhaugsdal | 7:ba0caeb296bb | 87 | |
mjhaugsdal | 9:1636083fce43 | 88 | /* |
mjhaugsdal | 7:ba0caeb296bb | 89 | void step4Left3() |
mjhaugsdal | 7:ba0caeb296bb | 90 | { |
mjhaugsdal | 7:ba0caeb296bb | 91 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 92 | IN9=1; |
mjhaugsdal | 7:ba0caeb296bb | 93 | IN10=0; |
mjhaugsdal | 7:ba0caeb296bb | 94 | IN11=0; |
mjhaugsdal | 7:ba0caeb296bb | 95 | IN12=1; |
mjhaugsdal | 7:ba0caeb296bb | 96 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 97 | |
mjhaugsdal | 7:ba0caeb296bb | 98 | |
mjhaugsdal | 7:ba0caeb296bb | 99 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 100 | IN9=1; |
mjhaugsdal | 7:ba0caeb296bb | 101 | IN10=0; |
mjhaugsdal | 7:ba0caeb296bb | 102 | IN11=1; |
mjhaugsdal | 7:ba0caeb296bb | 103 | IN12=0; |
mjhaugsdal | 7:ba0caeb296bb | 104 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 105 | |
mjhaugsdal | 7:ba0caeb296bb | 106 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 107 | IN9=0; |
mjhaugsdal | 7:ba0caeb296bb | 108 | IN10=1; |
mjhaugsdal | 7:ba0caeb296bb | 109 | IN11=1; |
mjhaugsdal | 7:ba0caeb296bb | 110 | IN12=0; |
mjhaugsdal | 7:ba0caeb296bb | 111 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 112 | |
mjhaugsdal | 7:ba0caeb296bb | 113 | //engine 2 |
mjhaugsdal | 7:ba0caeb296bb | 114 | IN9=0; |
mjhaugsdal | 7:ba0caeb296bb | 115 | IN10=1; |
mjhaugsdal | 7:ba0caeb296bb | 116 | IN11=0; |
mjhaugsdal | 7:ba0caeb296bb | 117 | IN12=1; |
mjhaugsdal | 7:ba0caeb296bb | 118 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 119 | |
mjhaugsdal | 7:ba0caeb296bb | 120 | } |
mjhaugsdal | 7:ba0caeb296bb | 121 | |
mjhaugsdal | 10:17a16ceb376b | 122 | */ |
mjhaugsdal | 7:ba0caeb296bb | 123 | |
mjhaugsdal | 10:17a16ceb376b | 124 | |
mjhaugsdal | 7:ba0caeb296bb | 125 | void step4Left1() |
mjhaugsdal | 7:ba0caeb296bb | 126 | { |
mjhaugsdal | 7:ba0caeb296bb | 127 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 128 | IN1=1; |
mjhaugsdal | 7:ba0caeb296bb | 129 | IN2=0; |
mjhaugsdal | 7:ba0caeb296bb | 130 | IN3=0; |
mjhaugsdal | 7:ba0caeb296bb | 131 | IN4=1; |
mjhaugsdal | 7:ba0caeb296bb | 132 | |
mjhaugsdal | 7:ba0caeb296bb | 133 | wait_us(fart); |
mjhaugsdal | 7:ba0caeb296bb | 134 | //engine 1 |
mjhaugsdal | 7:ba0caeb296bb | 135 | IN1=1; |
mjhaugsdal | 7:ba0caeb296bb | 136 | IN2=0; |
mjhaugsdal | 7:ba0caeb296bb | 137 | IN3=1; |
mjhaugsdal | 7:ba0caeb296bb | 138 | IN4=0; |
mjhaugsdal | 7:ba0caeb296bb | 139 | |
mjhaugsdal | 7:ba0caeb296bb | 140 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 141 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 142 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 143 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 144 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 145 | IN4=0; |
mjhaugsdal | 7:ba0caeb296bb | 146 | |
mjhaugsdal | 1:a3287196a9b3 | 147 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 148 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 149 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 150 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 151 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 152 | IN4=1; |
mjhaugsdal | 7:ba0caeb296bb | 153 | |
mjhaugsdal | 1:a3287196a9b3 | 154 | wait_us(fart); |
rlanghbv | 0:bd78e433db61 | 155 | } |
rlanghbv | 0:bd78e433db61 | 156 | |
mjhaugsdal | 11:ef54754100ea | 157 | void motor2(void const *args) |
mjhaugsdal | 11:ef54754100ea | 158 | { |
mjhaugsdal | 12:de8381ca371d | 159 | void step4Right2() |
mjhaugsdal | 12:de8381ca371d | 160 | { |
mjhaugsdal | 12:de8381ca371d | 161 | |
mjhaugsdal | 12:de8381ca371d | 162 | //engine 2 |
mjhaugsdal | 12:de8381ca371d | 163 | IN5=0; |
mjhaugsdal | 12:de8381ca371d | 164 | IN6=1; |
mjhaugsdal | 12:de8381ca371d | 165 | IN7=0; |
mjhaugsdal | 12:de8381ca371d | 166 | IN8=1; |
mjhaugsdal | 12:de8381ca371d | 167 | wait_us(fart); |
mjhaugsdal | 12:de8381ca371d | 168 | //engine 2 |
mjhaugsdal | 12:de8381ca371d | 169 | IN5=0; |
mjhaugsdal | 12:de8381ca371d | 170 | IN6=1; |
mjhaugsdal | 12:de8381ca371d | 171 | IN7=1; |
mjhaugsdal | 12:de8381ca371d | 172 | IN8=0; |
mjhaugsdal | 12:de8381ca371d | 173 | wait_us(fart); |
mjhaugsdal | 12:de8381ca371d | 174 | //engine 2 |
mjhaugsdal | 12:de8381ca371d | 175 | IN5=1; |
mjhaugsdal | 12:de8381ca371d | 176 | IN6=0; |
mjhaugsdal | 12:de8381ca371d | 177 | IN7=1; |
mjhaugsdal | 12:de8381ca371d | 178 | IN8=0; |
mjhaugsdal | 12:de8381ca371d | 179 | wait_us(fart); |
mjhaugsdal | 12:de8381ca371d | 180 | //engine 2 |
mjhaugsdal | 12:de8381ca371d | 181 | IN5=1; |
mjhaugsdal | 12:de8381ca371d | 182 | IN6=0; |
mjhaugsdal | 12:de8381ca371d | 183 | IN7=0; |
mjhaugsdal | 12:de8381ca371d | 184 | IN8=1; |
mjhaugsdal | 12:de8381ca371d | 185 | wait_us(fart); |
mjhaugsdal | 12:de8381ca371d | 186 | } |
mjhaugsdal | 12:de8381ca371d | 187 | |
mjhaugsdal | 12:de8381ca371d | 188 | void step4Left2() |
mjhaugsdal | 12:de8381ca371d | 189 | { |
mjhaugsdal | 12:de8381ca371d | 190 | //engine 2 |
mjhaugsdal | 12:de8381ca371d | 191 | IN5=1; |
mjhaugsdal | 12:de8381ca371d | 192 | IN6=0; |
mjhaugsdal | 12:de8381ca371d | 193 | IN7=0; |
mjhaugsdal | 12:de8381ca371d | 194 | IN8=1; |
mjhaugsdal | 12:de8381ca371d | 195 | wait_us(fart); |
mjhaugsdal | 12:de8381ca371d | 196 | |
mjhaugsdal | 12:de8381ca371d | 197 | |
mjhaugsdal | 12:de8381ca371d | 198 | //engine 2 |
mjhaugsdal | 12:de8381ca371d | 199 | IN5=1; |
mjhaugsdal | 12:de8381ca371d | 200 | IN6=0; |
mjhaugsdal | 12:de8381ca371d | 201 | IN7=1; |
mjhaugsdal | 12:de8381ca371d | 202 | IN8=0; |
mjhaugsdal | 12:de8381ca371d | 203 | wait_us(fart); |
mjhaugsdal | 12:de8381ca371d | 204 | |
mjhaugsdal | 12:de8381ca371d | 205 | //engine 2 |
mjhaugsdal | 12:de8381ca371d | 206 | IN5=0; |
mjhaugsdal | 12:de8381ca371d | 207 | IN6=1; |
mjhaugsdal | 12:de8381ca371d | 208 | IN7=1; |
mjhaugsdal | 12:de8381ca371d | 209 | IN8=0; |
mjhaugsdal | 12:de8381ca371d | 210 | wait_us(fart); |
mjhaugsdal | 12:de8381ca371d | 211 | |
mjhaugsdal | 12:de8381ca371d | 212 | //engine 2 |
mjhaugsdal | 12:de8381ca371d | 213 | IN5=0; |
mjhaugsdal | 12:de8381ca371d | 214 | IN6=1; |
mjhaugsdal | 12:de8381ca371d | 215 | IN7=0; |
mjhaugsdal | 12:de8381ca371d | 216 | IN8=1; |
mjhaugsdal | 12:de8381ca371d | 217 | wait_us(fart); |
mjhaugsdal | 12:de8381ca371d | 218 | |
mjhaugsdal | 12:de8381ca371d | 219 | } |
mjhaugsdal | 12:de8381ca371d | 220 | |
mjhaugsdal | 11:ef54754100ea | 221 | while(true) |
mjhaugsdal | 11:ef54754100ea | 222 | { |
mjhaugsdal | 11:ef54754100ea | 223 | if(m_cmd == 't') |
mjhaugsdal | 11:ef54754100ea | 224 | { |
mjhaugsdal | 11:ef54754100ea | 225 | step4Left2(); |
mjhaugsdal | 11:ef54754100ea | 226 | } |
mjhaugsdal | 11:ef54754100ea | 227 | } |
mjhaugsdal | 11:ef54754100ea | 228 | } |
mjhaugsdal | 11:ef54754100ea | 229 | |
mjhaugsdal | 1:a3287196a9b3 | 230 | |
mjhaugsdal | 1:a3287196a9b3 | 231 | void input(void const *args) |
mjhaugsdal | 1:a3287196a9b3 | 232 | { |
mjhaugsdal | 1:a3287196a9b3 | 233 | while(true) |
mjhaugsdal | 1:a3287196a9b3 | 234 | { |
mjhaugsdal | 3:15be78948724 | 235 | |
rlanghbv | 2:25bcc26f7a5b | 236 | if(pc.readable()) |
mjhaugsdal | 3:15be78948724 | 237 | { m_cmd=pc.getc(); |
mjhaugsdal | 3:15be78948724 | 238 | |
mjhaugsdal | 3:15be78948724 | 239 | } |
rlanghbv | 2:25bcc26f7a5b | 240 | |
rlanghbv | 2:25bcc26f7a5b | 241 | Thread::wait(10); |
mjhaugsdal | 5:fdc7a779d525 | 242 | //pc.printf("%d", steps); |
mjhaugsdal | 1:a3287196a9b3 | 243 | } |
mjhaugsdal | 1:a3287196a9b3 | 244 | } |
rlanghbv | 0:bd78e433db61 | 245 | |
rlanghbv | 0:bd78e433db61 | 246 | int main() |
rlanghbv | 0:bd78e433db61 | 247 | { |
mjhaugsdal | 1:a3287196a9b3 | 248 | //Thread 1 has constant feed from usb |
rlanghbv | 2:25bcc26f7a5b | 249 | Thread t1(input); |
mjhaugsdal | 11:ef54754100ea | 250 | Thread t2(motor2); |
mjhaugsdal | 3:15be78948724 | 251 | static char global_direction; |
mjhaugsdal | 3:15be78948724 | 252 | printf("Started"); |
mjhaugsdal | 3:15be78948724 | 253 | |
mjhaugsdal | 5:fdc7a779d525 | 254 | |
mjhaugsdal | 1:a3287196a9b3 | 255 | while (true) |
mjhaugsdal | 1:a3287196a9b3 | 256 | { |
mjhaugsdal | 4:4d655fdae399 | 257 | //Thread::wait(5); |
mjhaugsdal | 3:15be78948724 | 258 | |
mjhaugsdal | 7:ba0caeb296bb | 259 | if (m_cmd == 't') |
mjhaugsdal | 7:ba0caeb296bb | 260 | |
mjhaugsdal | 7:ba0caeb296bb | 261 | { |
mjhaugsdal | 7:ba0caeb296bb | 262 | step4Left1(); |
mjhaugsdal | 7:ba0caeb296bb | 263 | } |
mjhaugsdal | 7:ba0caeb296bb | 264 | |
mjhaugsdal | 4:4d655fdae399 | 265 | //0 STEPS LEFT AT MAX SPEED |
mjhaugsdal | 3:15be78948724 | 266 | if (m_cmd == '0') |
mjhaugsdal | 3:15be78948724 | 267 | { |
mjhaugsdal | 4:4d655fdae399 | 268 | fart = 1000; |
mjhaugsdal | 5:fdc7a779d525 | 269 | //global_direction = '0'; |
mjhaugsdal | 7:ba0caeb296bb | 270 | step4Left1(); |
mjhaugsdal | 8:5703dadaed07 | 271 | //step4Left2(); |
mjhaugsdal | 8:5703dadaed07 | 272 | //step4Left3(); |
mjhaugsdal | 5:fdc7a779d525 | 273 | //steps = steps + step; |
mjhaugsdal | 5:fdc7a779d525 | 274 | |
mjhaugsdal | 5:fdc7a779d525 | 275 | |
mjhaugsdal | 4:4d655fdae399 | 276 | //printf("LEFT \n"); |
mjhaugsdal | 3:15be78948724 | 277 | //printf("%c \n" + global_direction); |
mjhaugsdal | 3:15be78948724 | 278 | } |
mjhaugsdal | 4:4d655fdae399 | 279 | //1 STEPS RIGHT AT MAX SPEED |
mjhaugsdal | 3:15be78948724 | 280 | else if (m_cmd == '1') |
mjhaugsdal | 3:15be78948724 | 281 | { |
mjhaugsdal | 4:4d655fdae399 | 282 | fart = 1000; |
mjhaugsdal | 5:fdc7a779d525 | 283 | //global_direction = '1'; |
mjhaugsdal | 7:ba0caeb296bb | 284 | step4Right1(); |
mjhaugsdal | 8:5703dadaed07 | 285 | //step4Right2(); |
mjhaugsdal | 8:5703dadaed07 | 286 | // step4Right3(); |
mjhaugsdal | 3:15be78948724 | 287 | } |
mjhaugsdal | 4:4d655fdae399 | 288 | else |
mjhaugsdal | 4:4d655fdae399 | 289 | { |
mjhaugsdal | 5:fdc7a779d525 | 290 | //global_direction = 'x'; |
mjhaugsdal | 4:4d655fdae399 | 291 | } |
mjhaugsdal | 6:ac5d277bd497 | 292 | |
mjhaugsdal | 3:15be78948724 | 293 | if (m_cmd == 'a') |
mjhaugsdal | 3:15be78948724 | 294 | { |
mjhaugsdal | 4:4d655fdae399 | 295 | fart = 2000; |
mjhaugsdal | 5:fdc7a779d525 | 296 | //global_direction = '1'; |
mjhaugsdal | 7:ba0caeb296bb | 297 | step4Right1(); |
mjhaugsdal | 8:5703dadaed07 | 298 | //step4Right2(); |
mjhaugsdal | 8:5703dadaed07 | 299 | //step4Right3(); |
mjhaugsdal | 5:fdc7a779d525 | 300 | //steps = steps + step; |
mjhaugsdal | 5:fdc7a779d525 | 301 | // printf("%i", &steps); |
mjhaugsdal | 3:15be78948724 | 302 | |
mjhaugsdal | 3:15be78948724 | 303 | } |
mjhaugsdal | 4:4d655fdae399 | 304 | |
mjhaugsdal | 4:4d655fdae399 | 305 | else if (m_cmd == 'c') |
mjhaugsdal | 3:15be78948724 | 306 | { |
mjhaugsdal | 4:4d655fdae399 | 307 | fart = 2000; |
mjhaugsdal | 5:fdc7a779d525 | 308 | //global_direction = '0'; |
mjhaugsdal | 7:ba0caeb296bb | 309 | step4Left1(); |
mjhaugsdal | 8:5703dadaed07 | 310 | //step4Left2(); |
mjhaugsdal | 8:5703dadaed07 | 311 | //step4Left3(); |
mjhaugsdal | 5:fdc7a779d525 | 312 | |
mjhaugsdal | 5:fdc7a779d525 | 313 | //steps = steps + step; |
mjhaugsdal | 5:fdc7a779d525 | 314 | // printf("%i", &steps); |
mjhaugsdal | 3:15be78948724 | 315 | } |
mjhaugsdal | 5:fdc7a779d525 | 316 | else if (m_cmd == 'k') |
mjhaugsdal | 1:a3287196a9b3 | 317 | { |
mjhaugsdal | 10:17a16ceb376b | 318 | int steps1 = 50; |
mjhaugsdal | 10:17a16ceb376b | 319 | int steps2 = 50; |
mjhaugsdal | 5:fdc7a779d525 | 320 | |
mjhaugsdal | 5:fdc7a779d525 | 321 | |
mjhaugsdal | 6:ac5d277bd497 | 322 | //Steps = 242 gives a 60' rotation to the left. |
mjhaugsdal | 10:17a16ceb376b | 323 | while (steps1 >= 0) |
mjhaugsdal | 5:fdc7a779d525 | 324 | { |
mjhaugsdal | 7:ba0caeb296bb | 325 | step4Left1(); |
mjhaugsdal | 8:5703dadaed07 | 326 | //step4Left2(); |
mjhaugsdal | 8:5703dadaed07 | 327 | //step4Left3(); |
mjhaugsdal | 10:17a16ceb376b | 328 | steps1--; |
mjhaugsdal | 10:17a16ceb376b | 329 | } |
mjhaugsdal | 10:17a16ceb376b | 330 | while (steps2 >= 0) |
mjhaugsdal | 10:17a16ceb376b | 331 | { |
mjhaugsdal | 10:17a16ceb376b | 332 | step4Left2(); |
mjhaugsdal | 10:17a16ceb376b | 333 | |
mjhaugsdal | 10:17a16ceb376b | 334 | steps2--; |
mjhaugsdal | 5:fdc7a779d525 | 335 | } |
mjhaugsdal | 5:fdc7a779d525 | 336 | m_cmd = 'x'; |
mjhaugsdal | 3:15be78948724 | 337 | } |
mjhaugsdal | 5:fdc7a779d525 | 338 | else if (m_cmd == 'l') |
mjhaugsdal | 5:fdc7a779d525 | 339 | { |
mjhaugsdal | 6:ac5d277bd497 | 340 | int steps = 242; |
mjhaugsdal | 6:ac5d277bd497 | 341 | //Steps = 242 gives a 60' rotation to the right. |
mjhaugsdal | 5:fdc7a779d525 | 342 | while (steps >= 0) |
mjhaugsdal | 5:fdc7a779d525 | 343 | { |
mjhaugsdal | 7:ba0caeb296bb | 344 | step4Right1(); |
mjhaugsdal | 8:5703dadaed07 | 345 | //step4Right2(); |
mjhaugsdal | 8:5703dadaed07 | 346 | //step4Right3(); |
mjhaugsdal | 5:fdc7a779d525 | 347 | steps--; |
mjhaugsdal | 5:fdc7a779d525 | 348 | } |
mjhaugsdal | 5:fdc7a779d525 | 349 | m_cmd = 'x'; |
mjhaugsdal | 5:fdc7a779d525 | 350 | |
mjhaugsdal | 5:fdc7a779d525 | 351 | } |
mjhaugsdal | 5:fdc7a779d525 | 352 | |
mjhaugsdal | 5:fdc7a779d525 | 353 | |
mjhaugsdal | 5:fdc7a779d525 | 354 | |
mjhaugsdal | 4:4d655fdae399 | 355 | |
mjhaugsdal | 1:a3287196a9b3 | 356 | } |
mjhaugsdal | 1:a3287196a9b3 | 357 | |
mjhaugsdal | 3:15be78948724 | 358 | } //END Main |