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@18:ef02a9014491, 2016-04-26 (annotated)
- Committer:
- mjhaugsdal
- Date:
- Tue Apr 26 14:29:08 2016 +0000
- Revision:
- 18:ef02a9014491
- Parent:
- 17:ff0021c4dcdc
- Child:
- 19:79600d3509d7
Made a stop case that sets all pins to 0
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 | 5:fdc7a779d525 | 7 | //First engine |
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 | 5:fdc7a779d525 | 12 | //Second engine |
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 | 16:a3555918c025 | 17 | //Third Engine |
mjhaugsdal | 16:a3555918c025 | 18 | DigitalOut IN9(D8); |
mjhaugsdal | 16:a3555918c025 | 19 | DigitalOut IN10(D9); |
mjhaugsdal | 16:a3555918c025 | 20 | DigitalOut IN11(D10); |
mjhaugsdal | 16:a3555918c025 | 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 | |
rlanghbv | 0:bd78e433db61 | 27 | |
mjhaugsdal | 5:fdc7a779d525 | 28 | |
mjhaugsdal | 17:ff0021c4dcdc | 29 | void stepAllRight() |
rlanghbv | 0:bd78e433db61 | 30 | { |
mjhaugsdal | 6:ac5d277bd497 | 31 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 32 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 33 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 34 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 35 | IN4=1; |
mjhaugsdal | 6:ac5d277bd497 | 36 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 37 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 38 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 39 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 40 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 41 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 42 | IN9=0; |
mjhaugsdal | 17:ff0021c4dcdc | 43 | IN10=1; |
mjhaugsdal | 17:ff0021c4dcdc | 44 | IN11=0; |
mjhaugsdal | 17:ff0021c4dcdc | 45 | IN12=1; |
mjhaugsdal | 1:a3287196a9b3 | 46 | wait_us(fart); //legg som global variabel "fart" |
mjhaugsdal | 6:ac5d277bd497 | 47 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 48 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 49 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 50 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 51 | IN4=0; |
mjhaugsdal | 6:ac5d277bd497 | 52 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 53 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 54 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 55 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 56 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 57 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 58 | IN9=0; |
mjhaugsdal | 17:ff0021c4dcdc | 59 | IN10=1; |
mjhaugsdal | 17:ff0021c4dcdc | 60 | IN11=1; |
mjhaugsdal | 17:ff0021c4dcdc | 61 | IN12=0; |
mjhaugsdal | 1:a3287196a9b3 | 62 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 63 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 64 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 65 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 66 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 67 | IN4=0; |
mjhaugsdal | 6:ac5d277bd497 | 68 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 69 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 70 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 71 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 72 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 73 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 74 | IN9=1; |
mjhaugsdal | 17:ff0021c4dcdc | 75 | IN10=0; |
mjhaugsdal | 17:ff0021c4dcdc | 76 | IN11=1; |
mjhaugsdal | 17:ff0021c4dcdc | 77 | IN12=0; |
mjhaugsdal | 1:a3287196a9b3 | 78 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 79 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 80 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 81 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 82 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 83 | IN4=1; |
mjhaugsdal | 6:ac5d277bd497 | 84 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 85 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 86 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 87 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 88 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 89 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 90 | IN9=1; |
mjhaugsdal | 17:ff0021c4dcdc | 91 | IN10=0; |
mjhaugsdal | 17:ff0021c4dcdc | 92 | IN11=0; |
mjhaugsdal | 17:ff0021c4dcdc | 93 | IN12=1; |
mjhaugsdal | 1:a3287196a9b3 | 94 | wait_us(fart); |
rlanghbv | 0:bd78e433db61 | 95 | } |
mjhaugsdal | 17:ff0021c4dcdc | 96 | void stepAllLeft() |
rlanghbv | 0:bd78e433db61 | 97 | { |
mjhaugsdal | 6:ac5d277bd497 | 98 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 99 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 100 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 101 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 102 | IN4=1; |
mjhaugsdal | 6:ac5d277bd497 | 103 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 104 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 105 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 106 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 107 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 108 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 109 | IN9=1; |
mjhaugsdal | 17:ff0021c4dcdc | 110 | IN10=0; |
mjhaugsdal | 17:ff0021c4dcdc | 111 | IN11=0; |
mjhaugsdal | 17:ff0021c4dcdc | 112 | IN12=1; |
mjhaugsdal | 1:a3287196a9b3 | 113 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 114 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 115 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 116 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 117 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 118 | IN4=0; |
mjhaugsdal | 6:ac5d277bd497 | 119 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 120 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 121 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 122 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 123 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 124 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 125 | IN9=1; |
mjhaugsdal | 17:ff0021c4dcdc | 126 | IN10=0; |
mjhaugsdal | 17:ff0021c4dcdc | 127 | IN11=1; |
mjhaugsdal | 17:ff0021c4dcdc | 128 | IN12=0; |
mjhaugsdal | 1:a3287196a9b3 | 129 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 130 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 131 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 132 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 133 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 134 | IN4=0; |
mjhaugsdal | 6:ac5d277bd497 | 135 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 136 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 137 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 138 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 139 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 140 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 141 | IN9=0; |
mjhaugsdal | 17:ff0021c4dcdc | 142 | IN10=1; |
mjhaugsdal | 17:ff0021c4dcdc | 143 | IN11=1; |
mjhaugsdal | 17:ff0021c4dcdc | 144 | IN12=0; |
mjhaugsdal | 1:a3287196a9b3 | 145 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 146 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 147 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 148 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 149 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 150 | IN4=1; |
mjhaugsdal | 6:ac5d277bd497 | 151 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 152 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 153 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 154 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 155 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 156 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 157 | IN9=0; |
mjhaugsdal | 17:ff0021c4dcdc | 158 | IN10=1; |
mjhaugsdal | 17:ff0021c4dcdc | 159 | IN11=0; |
mjhaugsdal | 17:ff0021c4dcdc | 160 | IN12=1; |
mjhaugsdal | 17:ff0021c4dcdc | 161 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 162 | } |
mjhaugsdal | 17:ff0021c4dcdc | 163 | |
mjhaugsdal | 17:ff0021c4dcdc | 164 | void stepEngine1Left() |
mjhaugsdal | 17:ff0021c4dcdc | 165 | { |
mjhaugsdal | 17:ff0021c4dcdc | 166 | //engine 1 |
mjhaugsdal | 17:ff0021c4dcdc | 167 | IN1=1; |
mjhaugsdal | 17:ff0021c4dcdc | 168 | IN2=0; |
mjhaugsdal | 17:ff0021c4dcdc | 169 | IN3=0; |
mjhaugsdal | 17:ff0021c4dcdc | 170 | IN4=1; |
mjhaugsdal | 17:ff0021c4dcdc | 171 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 172 | IN1=1; |
mjhaugsdal | 17:ff0021c4dcdc | 173 | IN2=0; |
mjhaugsdal | 17:ff0021c4dcdc | 174 | IN3=1; |
mjhaugsdal | 17:ff0021c4dcdc | 175 | IN4=0; |
mjhaugsdal | 17:ff0021c4dcdc | 176 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 177 | IN1=0; |
mjhaugsdal | 17:ff0021c4dcdc | 178 | IN2=1; |
mjhaugsdal | 17:ff0021c4dcdc | 179 | IN3=1; |
mjhaugsdal | 17:ff0021c4dcdc | 180 | IN4=0; |
mjhaugsdal | 17:ff0021c4dcdc | 181 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 182 | IN1=0; |
mjhaugsdal | 17:ff0021c4dcdc | 183 | IN2=1; |
mjhaugsdal | 17:ff0021c4dcdc | 184 | IN3=0; |
mjhaugsdal | 17:ff0021c4dcdc | 185 | IN4=1; |
mjhaugsdal | 1:a3287196a9b3 | 186 | wait_us(fart); |
rlanghbv | 0:bd78e433db61 | 187 | } |
rlanghbv | 0:bd78e433db61 | 188 | |
mjhaugsdal | 17:ff0021c4dcdc | 189 | void stepEngine1Right() |
mjhaugsdal | 17:ff0021c4dcdc | 190 | { |
mjhaugsdal | 17:ff0021c4dcdc | 191 | //engine 1 |
mjhaugsdal | 17:ff0021c4dcdc | 192 | IN1=0; |
mjhaugsdal | 17:ff0021c4dcdc | 193 | IN2=1; |
mjhaugsdal | 17:ff0021c4dcdc | 194 | IN3=0; |
mjhaugsdal | 17:ff0021c4dcdc | 195 | IN4=1; |
mjhaugsdal | 17:ff0021c4dcdc | 196 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 197 | IN1=0; |
mjhaugsdal | 17:ff0021c4dcdc | 198 | IN2=1; |
mjhaugsdal | 17:ff0021c4dcdc | 199 | IN3=1; |
mjhaugsdal | 17:ff0021c4dcdc | 200 | IN4=0; |
mjhaugsdal | 17:ff0021c4dcdc | 201 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 202 | IN1=1; |
mjhaugsdal | 17:ff0021c4dcdc | 203 | IN2=0; |
mjhaugsdal | 17:ff0021c4dcdc | 204 | IN3=1; |
mjhaugsdal | 17:ff0021c4dcdc | 205 | IN4=0; |
mjhaugsdal | 17:ff0021c4dcdc | 206 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 207 | IN1=1; |
mjhaugsdal | 17:ff0021c4dcdc | 208 | IN2=0; |
mjhaugsdal | 17:ff0021c4dcdc | 209 | IN3=0; |
mjhaugsdal | 17:ff0021c4dcdc | 210 | IN4=1; |
mjhaugsdal | 17:ff0021c4dcdc | 211 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 212 | } |
mjhaugsdal | 17:ff0021c4dcdc | 213 | |
mjhaugsdal | 17:ff0021c4dcdc | 214 | void stepEngine2Right() |
mjhaugsdal | 17:ff0021c4dcdc | 215 | { |
mjhaugsdal | 17:ff0021c4dcdc | 216 | //engine 1 |
mjhaugsdal | 17:ff0021c4dcdc | 217 | IN5=0; |
mjhaugsdal | 17:ff0021c4dcdc | 218 | IN6=1; |
mjhaugsdal | 17:ff0021c4dcdc | 219 | IN7=0; |
mjhaugsdal | 17:ff0021c4dcdc | 220 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 221 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 222 | IN5=0; |
mjhaugsdal | 17:ff0021c4dcdc | 223 | IN6=1; |
mjhaugsdal | 17:ff0021c4dcdc | 224 | IN7=1; |
mjhaugsdal | 17:ff0021c4dcdc | 225 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 226 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 227 | IN5=1; |
mjhaugsdal | 17:ff0021c4dcdc | 228 | IN6=0; |
mjhaugsdal | 17:ff0021c4dcdc | 229 | IN7=1; |
mjhaugsdal | 17:ff0021c4dcdc | 230 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 231 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 232 | IN5=1; |
mjhaugsdal | 17:ff0021c4dcdc | 233 | IN6=0; |
mjhaugsdal | 17:ff0021c4dcdc | 234 | IN7=0; |
mjhaugsdal | 17:ff0021c4dcdc | 235 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 236 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 237 | } |
mjhaugsdal | 17:ff0021c4dcdc | 238 | |
mjhaugsdal | 17:ff0021c4dcdc | 239 | void stepEngine2Left() |
mjhaugsdal | 17:ff0021c4dcdc | 240 | { |
mjhaugsdal | 17:ff0021c4dcdc | 241 | //engine 1 |
mjhaugsdal | 17:ff0021c4dcdc | 242 | IN5=1; |
mjhaugsdal | 17:ff0021c4dcdc | 243 | IN6=0; |
mjhaugsdal | 17:ff0021c4dcdc | 244 | IN7=0; |
mjhaugsdal | 17:ff0021c4dcdc | 245 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 246 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 247 | IN5=1; |
mjhaugsdal | 17:ff0021c4dcdc | 248 | IN6=0; |
mjhaugsdal | 17:ff0021c4dcdc | 249 | IN7=1; |
mjhaugsdal | 17:ff0021c4dcdc | 250 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 251 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 252 | IN5=0; |
mjhaugsdal | 17:ff0021c4dcdc | 253 | IN6=1; |
mjhaugsdal | 17:ff0021c4dcdc | 254 | IN7=1; |
mjhaugsdal | 17:ff0021c4dcdc | 255 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 256 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 257 | IN5=0; |
mjhaugsdal | 17:ff0021c4dcdc | 258 | IN6=1; |
mjhaugsdal | 17:ff0021c4dcdc | 259 | IN7=0; |
mjhaugsdal | 17:ff0021c4dcdc | 260 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 261 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 262 | } |
mjhaugsdal | 17:ff0021c4dcdc | 263 | |
mjhaugsdal | 18:ef02a9014491 | 264 | void stopAll() |
mjhaugsdal | 18:ef02a9014491 | 265 | { |
mjhaugsdal | 18:ef02a9014491 | 266 | IN1=0; |
mjhaugsdal | 18:ef02a9014491 | 267 | IN2=0; |
mjhaugsdal | 18:ef02a9014491 | 268 | IN3=0; |
mjhaugsdal | 18:ef02a9014491 | 269 | IN4=0; |
mjhaugsdal | 18:ef02a9014491 | 270 | IN5=0; |
mjhaugsdal | 18:ef02a9014491 | 271 | IN6=0; |
mjhaugsdal | 18:ef02a9014491 | 272 | IN7=0; |
mjhaugsdal | 18:ef02a9014491 | 273 | IN8=0; |
mjhaugsdal | 18:ef02a9014491 | 274 | IN9=0; |
mjhaugsdal | 18:ef02a9014491 | 275 | IN10=0; |
mjhaugsdal | 18:ef02a9014491 | 276 | IN11=0; |
mjhaugsdal | 18:ef02a9014491 | 277 | IN12=0; |
mjhaugsdal | 18:ef02a9014491 | 278 | } |
mjhaugsdal | 18:ef02a9014491 | 279 | |
mjhaugsdal | 17:ff0021c4dcdc | 280 | |
mjhaugsdal | 17:ff0021c4dcdc | 281 | |
mjhaugsdal | 1:a3287196a9b3 | 282 | void input(void const *args) |
mjhaugsdal | 1:a3287196a9b3 | 283 | { |
mjhaugsdal | 1:a3287196a9b3 | 284 | while(true) |
mjhaugsdal | 1:a3287196a9b3 | 285 | { |
mjhaugsdal | 3:15be78948724 | 286 | |
rlanghbv | 2:25bcc26f7a5b | 287 | if(pc.readable()) |
mjhaugsdal | 3:15be78948724 | 288 | { m_cmd=pc.getc(); |
mjhaugsdal | 3:15be78948724 | 289 | |
mjhaugsdal | 17:ff0021c4dcdc | 290 | } |
mjhaugsdal | 17:ff0021c4dcdc | 291 | |
rlanghbv | 2:25bcc26f7a5b | 292 | Thread::wait(10); |
mjhaugsdal | 5:fdc7a779d525 | 293 | //pc.printf("%d", steps); |
mjhaugsdal | 1:a3287196a9b3 | 294 | } |
mjhaugsdal | 1:a3287196a9b3 | 295 | } |
rlanghbv | 0:bd78e433db61 | 296 | |
rlanghbv | 0:bd78e433db61 | 297 | int main() |
rlanghbv | 0:bd78e433db61 | 298 | { |
mjhaugsdal | 1:a3287196a9b3 | 299 | //Thread 1 has constant feed from usb |
rlanghbv | 2:25bcc26f7a5b | 300 | Thread t1(input); |
mjhaugsdal | 3:15be78948724 | 301 | static char global_direction; |
mjhaugsdal | 3:15be78948724 | 302 | printf("Started"); |
mjhaugsdal | 3:15be78948724 | 303 | |
mjhaugsdal | 5:fdc7a779d525 | 304 | |
mjhaugsdal | 1:a3287196a9b3 | 305 | while (true) |
mjhaugsdal | 1:a3287196a9b3 | 306 | { |
mjhaugsdal | 4:4d655fdae399 | 307 | //Thread::wait(5); |
mjhaugsdal | 3:15be78948724 | 308 | |
mjhaugsdal | 17:ff0021c4dcdc | 309 | |
mjhaugsdal | 17:ff0021c4dcdc | 310 | if(m_cmd == 't') |
mjhaugsdal | 17:ff0021c4dcdc | 311 | { |
mjhaugsdal | 17:ff0021c4dcdc | 312 | stepAllLeft(); |
mjhaugsdal | 17:ff0021c4dcdc | 313 | |
mjhaugsdal | 17:ff0021c4dcdc | 314 | } |
mjhaugsdal | 17:ff0021c4dcdc | 315 | if(m_cmd == 'y') |
mjhaugsdal | 17:ff0021c4dcdc | 316 | { |
mjhaugsdal | 17:ff0021c4dcdc | 317 | stepAllRight(); |
mjhaugsdal | 17:ff0021c4dcdc | 318 | |
mjhaugsdal | 17:ff0021c4dcdc | 319 | } |
mjhaugsdal | 17:ff0021c4dcdc | 320 | |
mjhaugsdal | 17:ff0021c4dcdc | 321 | |
mjhaugsdal | 4:4d655fdae399 | 322 | //0 STEPS LEFT AT MAX SPEED |
mjhaugsdal | 3:15be78948724 | 323 | if (m_cmd == '0') |
mjhaugsdal | 3:15be78948724 | 324 | { |
mjhaugsdal | 4:4d655fdae399 | 325 | fart = 1000; |
mjhaugsdal | 5:fdc7a779d525 | 326 | //global_direction = '0'; |
mjhaugsdal | 17:ff0021c4dcdc | 327 | stepAllLeft(); |
mjhaugsdal | 5:fdc7a779d525 | 328 | //steps = steps + step; |
mjhaugsdal | 5:fdc7a779d525 | 329 | |
mjhaugsdal | 5:fdc7a779d525 | 330 | |
mjhaugsdal | 4:4d655fdae399 | 331 | //printf("LEFT \n"); |
mjhaugsdal | 3:15be78948724 | 332 | //printf("%c \n" + global_direction); |
mjhaugsdal | 3:15be78948724 | 333 | } |
mjhaugsdal | 4:4d655fdae399 | 334 | //1 STEPS RIGHT AT MAX SPEED |
mjhaugsdal | 3:15be78948724 | 335 | else if (m_cmd == '1') |
mjhaugsdal | 3:15be78948724 | 336 | { |
mjhaugsdal | 4:4d655fdae399 | 337 | fart = 1000; |
mjhaugsdal | 5:fdc7a779d525 | 338 | //global_direction = '1'; |
mjhaugsdal | 17:ff0021c4dcdc | 339 | stepAllRight(); |
mjhaugsdal | 3:15be78948724 | 340 | } |
mjhaugsdal | 4:4d655fdae399 | 341 | else |
mjhaugsdal | 4:4d655fdae399 | 342 | { |
mjhaugsdal | 5:fdc7a779d525 | 343 | //global_direction = 'x'; |
mjhaugsdal | 4:4d655fdae399 | 344 | } |
mjhaugsdal | 6:ac5d277bd497 | 345 | |
mjhaugsdal | 3:15be78948724 | 346 | if (m_cmd == 'a') |
mjhaugsdal | 3:15be78948724 | 347 | { |
mjhaugsdal | 4:4d655fdae399 | 348 | fart = 2000; |
mjhaugsdal | 5:fdc7a779d525 | 349 | //global_direction = '1'; |
mjhaugsdal | 17:ff0021c4dcdc | 350 | stepAllRight(); |
mjhaugsdal | 5:fdc7a779d525 | 351 | //steps = steps + step; |
mjhaugsdal | 5:fdc7a779d525 | 352 | // printf("%i", &steps); |
mjhaugsdal | 3:15be78948724 | 353 | |
mjhaugsdal | 3:15be78948724 | 354 | } |
mjhaugsdal | 4:4d655fdae399 | 355 | |
mjhaugsdal | 4:4d655fdae399 | 356 | else if (m_cmd == 'c') |
mjhaugsdal | 3:15be78948724 | 357 | { |
mjhaugsdal | 4:4d655fdae399 | 358 | fart = 2000; |
mjhaugsdal | 5:fdc7a779d525 | 359 | //global_direction = '0'; |
mjhaugsdal | 17:ff0021c4dcdc | 360 | stepAllLeft(); |
mjhaugsdal | 5:fdc7a779d525 | 361 | |
mjhaugsdal | 5:fdc7a779d525 | 362 | //steps = steps + step; |
mjhaugsdal | 5:fdc7a779d525 | 363 | // printf("%i", &steps); |
mjhaugsdal | 3:15be78948724 | 364 | } |
mjhaugsdal | 5:fdc7a779d525 | 365 | else if (m_cmd == 'k') |
mjhaugsdal | 1:a3287196a9b3 | 366 | { |
mjhaugsdal | 6:ac5d277bd497 | 367 | int steps = 242; |
mjhaugsdal | 5:fdc7a779d525 | 368 | |
mjhaugsdal | 5:fdc7a779d525 | 369 | |
mjhaugsdal | 6:ac5d277bd497 | 370 | //Steps = 242 gives a 60' rotation to the left. |
mjhaugsdal | 5:fdc7a779d525 | 371 | while (steps >= 0) |
mjhaugsdal | 5:fdc7a779d525 | 372 | { |
mjhaugsdal | 17:ff0021c4dcdc | 373 | stepAllLeft(); |
mjhaugsdal | 5:fdc7a779d525 | 374 | steps--; |
mjhaugsdal | 5:fdc7a779d525 | 375 | } |
mjhaugsdal | 5:fdc7a779d525 | 376 | m_cmd = 'x'; |
mjhaugsdal | 3:15be78948724 | 377 | } |
mjhaugsdal | 5:fdc7a779d525 | 378 | else if (m_cmd == 'l') |
mjhaugsdal | 5:fdc7a779d525 | 379 | { |
mjhaugsdal | 6:ac5d277bd497 | 380 | int steps = 242; |
mjhaugsdal | 6:ac5d277bd497 | 381 | //Steps = 242 gives a 60' rotation to the right. |
mjhaugsdal | 5:fdc7a779d525 | 382 | while (steps >= 0) |
mjhaugsdal | 5:fdc7a779d525 | 383 | { |
mjhaugsdal | 17:ff0021c4dcdc | 384 | stepAllRight(); |
mjhaugsdal | 5:fdc7a779d525 | 385 | steps--; |
mjhaugsdal | 5:fdc7a779d525 | 386 | } |
mjhaugsdal | 5:fdc7a779d525 | 387 | m_cmd = 'x'; |
mjhaugsdal | 5:fdc7a779d525 | 388 | |
mjhaugsdal | 5:fdc7a779d525 | 389 | } |
mjhaugsdal | 18:ef02a9014491 | 390 | if (m_cmd == 'z') |
mjhaugsdal | 18:ef02a9014491 | 391 | { |
mjhaugsdal | 18:ef02a9014491 | 392 | stopAll(); |
mjhaugsdal | 18:ef02a9014491 | 393 | } |
mjhaugsdal | 5:fdc7a779d525 | 394 | |
mjhaugsdal | 5:fdc7a779d525 | 395 | |
mjhaugsdal | 5:fdc7a779d525 | 396 | |
mjhaugsdal | 4:4d655fdae399 | 397 | |
mjhaugsdal | 1:a3287196a9b3 | 398 | } |
mjhaugsdal | 1:a3287196a9b3 | 399 | |
mjhaugsdal | 3:15be78948724 | 400 | } //END Main |