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Dependencies:   mbed-rtos mbed PinDetect

Fork of FinalMotorControl by Robot Bachelor

Files at this revision

API Documentation at this revision

Revision 17:ff0021c4dcdc, committed 2016-04-26

Comitter:
mjhaugsdal
Date:
Tue Apr 26 14:25:29 2016 +0000
Parent:
16:a3555918c025
Child:
18:ef02a9014491
Commit message:
Made lots of new cases (StepAllRight/Left) (StepEngine1Left/Right)

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Apr 26 14:13:34 2016 +0000
+++ b/main.cpp	Tue Apr 26 14:25:29 2016 +0000
@@ -26,7 +26,7 @@
 
 
 
-void step4Right()
+void stepAllRight()
 {
     //engine 1
     IN1=0;
@@ -38,6 +38,11 @@
     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;
@@ -49,6 +54,11 @@
     IN6=1;
     IN7=1;
     IN8=0;
+    //engine 3
+    IN9=0;
+    IN10=1;
+    IN11=1;
+    IN12=0;
     wait_us(fart);
     //engine 1
     IN1=1;
@@ -60,6 +70,11 @@
     IN6=0;
     IN7=1;
     IN8=0;
+    //engine 3
+    IN9=1;
+    IN10=0;
+    IN11=1;
+    IN12=0;
     wait_us(fart);
     //engine 1
     IN1=1;
@@ -71,9 +86,14 @@
     IN6=0;
     IN7=0;
     IN8=1;
+    //engine 3
+    IN9=1;
+    IN10=0;
+    IN11=0;
+    IN12=1;
     wait_us(fart);
 }
-void step4Left()
+void stepAllLeft()
 {
     //engine 1
     IN1=1;
@@ -85,6 +105,11 @@
     IN6=0;
     IN7=0;
     IN8=1;
+    //engine 3
+    IN9=1;
+    IN10=0;
+    IN11=0;
+    IN12=1;
     wait_us(fart);
     //engine 1
     IN1=1;
@@ -96,6 +121,11 @@
     IN6=0;
     IN7=1;
     IN8=0;
+    //engine 3
+    IN9=1;
+    IN10=0;
+    IN11=1;
+    IN12=0;
     wait_us(fart);
     //engine 1
     IN1=0;
@@ -107,6 +137,11 @@
     IN6=1;
     IN7=1;
     IN8=0;
+    //engine 3
+    IN9=0;
+    IN10=1;
+    IN11=1;
+    IN12=0;
     wait_us(fart);
     //engine 1
     IN1=0;
@@ -118,10 +153,116 @@
     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)
@@ -130,8 +271,8 @@
         if(pc.readable()) 
         { m_cmd=pc.getc(); 
         
-         }
-        
+        }
+         
         Thread::wait(10);
         //pc.printf("%d", steps);
     }
@@ -149,12 +290,25 @@
         {
             //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';
-                step4Left();
+                stepAllLeft();
                 //steps = steps + step;
                 
                 
@@ -166,7 +320,7 @@
             {
                 fart = 1000;
                 //global_direction = '1';
-                step4Right(); 
+                stepAllRight(); 
             } 
                 else
             {
@@ -177,7 +331,7 @@
             {
                 fart =  2000;
                 //global_direction = '1';
-                step4Right();
+                stepAllRight();
                 //steps = steps + step;
                // printf("%i", &steps);
                 
@@ -187,7 +341,7 @@
             {
                 fart = 2000;
                 //global_direction = '0';
-                step4Left();
+                stepAllLeft();
                 
                 //steps = steps + step;
                // printf("%i", &steps);
@@ -200,7 +354,7 @@
                 //Steps = 242 gives a 60' rotation to the left. 
                 while (steps >= 0)
                 {
-                    step4Left();
+                    stepAllLeft();
                     steps--;
                 }
                 m_cmd = 'x';
@@ -211,7 +365,7 @@
                 //Steps = 242 gives a 60' rotation to the right. 
                 while (steps >= 0)
                 {
-                    step4Right();
+                    stepAllRight();
                     steps--;
                 }
                 m_cmd = 'x';