Robot Bachelor
/
MC
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Dependencies: mbed-rtos mbed PinDetect
Fork of
FinalMotorControl
by 
Robot Bachelor
Revision 7:ba0caeb296bb, committed 2016-04-20
- Comitter:
- mjhaugsdal
- Date:
- Wed Apr 20 14:23:51 2016 +0000
- Parent:
- 6:ac5d277bd497
- Child:
- 8:5703dadaed07
- Commit message:
- 3 engines
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed Apr 20 12:11:51 2016 +0000
+++ b/main.cpp Wed Apr 20 14:23:51 2016 +0000
@@ -4,63 +4,76 @@
Serial pc(USBTX, USBRX); // tx, rx
//Analog Pins
-//First engine
+//First engine 1-4
DigitalOut IN1(A0);
DigitalOut IN2(A1);
DigitalOut IN3(A2);
DigitalOut IN4(A3);
-//Second engine
+//Second engine 5-8
DigitalOut IN5(D3);
DigitalOut IN6(D4);
DigitalOut IN7(D5);
DigitalOut IN8(D6);
+//Third engine 9-12
+DigitalOut IN9(D8);
+DigitalOut IN10(D9);
+DigitalOut IN11(D10);
+DigitalOut IN12(D11);
static int fart = 1000;
static char m_cmd = 'x';
-
-
-void step4Right()
+void step4Right3()
{
- //engine 1
- IN1=0;
- IN2=1;
- IN3=0;
- IN4=1;
+
+ //engine 2
+ IN9=0;
+ IN10=1;
+ IN11=0;
+ IN12=1;
+ wait_us(fart);
+ //engine 2
+ IN9=0;
+ IN10=1;
+ IN11=1;
+ IN12=0;
+ wait_us(fart);
//engine 2
+ IN9=1;
+ IN10=0;
+ IN11=1;
+ IN12=0;
+ wait_us(fart);
+ //engine 2
+ IN9=1;
+ IN10=0;
+ IN11=0;
+ IN12=1;
+ wait_us(fart);
+}
+
+void step4Right2()
+{
+
+ //engine 2
IN5=0;
IN6=1;
IN7=0;
IN8=1;
- wait_us(fart); //legg som global variabel "fart"
- //engine 1
- IN1=0;
- IN2=1;
- IN3=1;
- IN4=0;
+ wait_us(fart);
//engine 2
IN5=0;
IN6=1;
IN7=1;
IN8=0;
wait_us(fart);
- //engine 1
- IN1=1;
- IN2=0;
- IN3=1;
- IN4=0;
//engine 2
IN5=1;
IN6=0;
IN7=1;
IN8=0;
wait_us(fart);
- //engine 1
- IN1=1;
- IN2=0;
- IN3=0;
- IN4=1;
//engine 2
IN5=1;
IN6=0;
@@ -68,51 +81,130 @@
IN8=1;
wait_us(fart);
}
-void step4Left()
+void step4Right1()
{
//engine 1
- IN1=1;
- IN2=0;
+ IN1=0;
+ IN2=1;
IN3=0;
IN4=1;
- //engine 2
- IN5=1;
- IN6=0;
- IN7=0;
- IN8=1;
+ wait_us(fart); //legg som global variabel "fart"
+ //engine 1
+ IN1=0;
+ IN2=1;
+ IN3=1;
+ IN4=0;
wait_us(fart);
//engine 1
IN1=1;
IN2=0;
IN3=1;
IN4=0;
+ wait_us(fart);
+ //engine 1
+ IN1=1;
+ IN2=0;
+ IN3=0;
+ IN4=1;
+ wait_us(fart);
+}
+
+void step4Left3()
+{
+ //engine 2
+ IN9=1;
+ IN10=0;
+ IN11=0;
+ IN12=1;
+ wait_us(fart);
+
+
+ //engine 2
+ IN9=1;
+ IN10=0;
+ IN11=1;
+ IN12=0;
+ wait_us(fart);
+
+ //engine 2
+ IN9=0;
+ IN10=1;
+ IN11=1;
+ IN12=0;
+ wait_us(fart);
+
+ //engine 2
+ IN9=0;
+ IN10=1;
+ IN11=0;
+ IN12=1;
+ wait_us(fart);
+
+}
+
+
+void step4Left2()
+{
+ //engine 2
+ IN5=1;
+ IN6=0;
+ IN7=0;
+ IN8=1;
+ wait_us(fart);
+
+
//engine 2
IN5=1;
IN6=0;
IN7=1;
IN8=0;
wait_us(fart);
+
+ //engine 2
+ IN5=0;
+ IN6=1;
+ IN7=1;
+ IN8=0;
+ wait_us(fart);
+
+ //engine 2
+ IN5=0;
+ IN6=1;
+ IN7=0;
+ IN8=1;
+ wait_us(fart);
+
+}
+
+void step4Left1()
+{
+ //engine 1
+ IN1=1;
+ IN2=0;
+ IN3=0;
+ IN4=1;
+
+ wait_us(fart);
+ //engine 1
+ IN1=1;
+ IN2=0;
+ IN3=1;
+ IN4=0;
+
+ wait_us(fart);
//engine 1
IN1=0;
IN2=1;
IN3=1;
IN4=0;
- //engine 2
- IN5=0;
- IN6=1;
- IN7=1;
- IN8=0;
+
wait_us(fart);
//engine 1
IN1=0;
IN2=1;
IN3=0;
IN4=1;
- //engine 2
- IN5=0;
- IN6=1;
- IN7=0;
- IN8=1;
+
wait_us(fart);
}
@@ -144,12 +236,20 @@
{
//Thread::wait(5);
+ if (m_cmd == 't')
+
+ {
+ step4Left1();
+ }
+
//0 STEPS LEFT AT MAX SPEED
if (m_cmd == '0')
{
fart = 1000;
//global_direction = '0';
- step4Left();
+ step4Left1();
+ step4Left2();
+ step4Left3();t
//steps = steps + step;
@@ -161,7 +261,9 @@
{
fart = 1000;
//global_direction = '1';
- step4Right();
+ step4Right1();
+ step4Right2();
+ step4Right3();
}
else
{
@@ -172,7 +274,9 @@
{
fart = 2000;
//global_direction = '1';
- step4Right();
+ step4Right1();
+ step4Right2();
+ step4Right3();
//steps = steps + step;
// printf("%i", &steps);
@@ -182,7 +286,9 @@
{
fart = 2000;
//global_direction = '0';
- step4Left();
+ step4Left1();
+ step4Left2();
+ step4Left3();
//steps = steps + step;
// printf("%i", &steps);
@@ -195,7 +301,9 @@
//Steps = 242 gives a 60' rotation to the left.
while (steps >= 0)
{
- step4Left();
+ step4Left1();
+ step4Left2();
+ step4Left3();
steps--;
}
m_cmd = 'x';
@@ -206,7 +314,9 @@
//Steps = 242 gives a 60' rotation to the right.
while (steps >= 0)
{
- step4Right();
+ step4Right1();
+ step4Right2();
+ step4Right3();
steps--;
}
m_cmd = 'x';