Robotic_winteam / Mbed 2 deprecated Nucleo_pwmdecoder

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Dependencies:   mbed

main.cpp@0:97b4f9625db2, 2016-05-24 (annotated)

Committer:
ooseausername
Date:
Tue May 24 14:16:46 2016 +0000
Revision:
0:97b4f9625db2
Child:
1:836ed9afcb8a
ENCODER

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ooseausername 0:97b4f9625db2 1 #include "mbed.h"
ooseausername 0:97b4f9625db2 2
ooseausername 0:97b4f9625db2 3 PwmOut mypwm(PWM_OUT);
ooseausername 0:97b4f9625db2 4
ooseausername 0:97b4f9625db2 5 DigitalOut myled(LED1);
ooseausername 0:97b4f9625db2 6
ooseausername 0:97b4f9625db2 7 int main() {
ooseausername 0:97b4f9625db2 8
ooseausername 0:97b4f9625db2 9 mypwm.period_ms(10);
ooseausername 0:97b4f9625db2 10 mypwm.pulsewidth_ms(1);
ooseausername 0:97b4f9625db2 11
ooseausername 0:97b4f9625db2 12 printf("pwm set to %.2f %%\n", mypwm.read() * 100);
ooseausername 0:97b4f9625db2 13
ooseausername 0:97b4f9625db2 14 while(1) {
ooseausername 0:97b4f9625db2 15 myled = !myled;
ooseausername 0:97b4f9625db2 16 wait(1);
ooseausername 0:97b4f9625db2 17 }
ooseausername 0:97b4f9625db2 18 }
ooseausername 0:97b4f9625db2 19 void _ISR _U2RXInterrupt(void)
ooseausername 0:97b4f9625db2 20 {
ooseausername 0:97b4f9625db2 21
ooseausername 0:97b4f9625db2 22 static char Temp;
ooseausername 0:97b4f9625db2 23 Temp=U2RXREG;
ooseausername 0:97b4f9625db2 24 if (Receive_Flag==1)
ooseausername 0:97b4f9625db2 25 {
ooseausername 0:97b4f9625db2 26 Receive_Counter++;
ooseausername 0:97b4f9625db2 27 Receive_Data[Receive_Counter]=Temp;
ooseausername 0:97b4f9625db2 28
ooseausername 0:97b4f9625db2 29 if(Receive_Counter==9)
ooseausername 0:97b4f9625db2 30 {
ooseausername 0:97b4f9625db2 31 Command_Flag=1;
ooseausername 0:97b4f9625db2 32 Receive_Flag=0;
ooseausername 0:97b4f9625db2 33 Receive_Counter=0;
ooseausername 0:97b4f9625db2 34 }
ooseausername 0:97b4f9625db2 35 }
ooseausername 0:97b4f9625db2 36 else
ooseausername 0:97b4f9625db2 37 {
ooseausername 0:97b4f9625db2 38 if(Temp==36)
ooseausername 0:97b4f9625db2 39 {
ooseausername 0:97b4f9625db2 40 Receive_Flag=1;
ooseausername 0:97b4f9625db2 41 Receive_Counter=0;
ooseausername 0:97b4f9625db2 42 Receive_Data[0]= Temp;
ooseausername 0:97b4f9625db2 43 }
ooseausername 0:97b4f9625db2 44 else
ooseausername 0:97b4f9625db2 45 {
ooseausername 0:97b4f9625db2 46 }
ooseausername 0:97b4f9625db2 47 }
ooseausername 0:97b4f9625db2 48 IFS1bits.U2RXIF=0;
ooseausername 0:97b4f9625db2 49 }
ooseausername 0:97b4f9625db2 50
ooseausername 0:97b4f9625db2 51
ooseausername 0:97b4f9625db2 52 if(Command_Flag==1)
ooseausername 0:97b4f9625db2 53 {
ooseausername 0:97b4f9625db2 54 Position_Error=(Receive_Data[2]-0x30)*100+(Receive_Data[3]-0x30)*10+(Receive_Data[4]-0x30);
ooseausername 0:97b4f9625db2 55
ooseausername 0:97b4f9625db2 56 if(Receive_Data[1]=='-')
ooseausername 0:97b4f9625db2 57 Position_Error=-1*Position_Error;
ooseausername 0:97b4f9625db2 58 else Position_Error=Position_Error;
ooseausername 0:97b4f9625db2 59
ooseausername 0:97b4f9625db2 60 Degree_Error=(Receive_Data[6]-0x30)*100+(Receive_Data[7]-0x30)*10+(Receive_Data[8]-0x30);
ooseausername 0:97b4f9625db2 61
ooseausername 0:97b4f9625db2 62 if(Receive_Data[5]=='-')
ooseausername 0:97b4f9625db2 63 Degree_Error=-1*Degree_Error;
ooseausername 0:97b4f9625db2 64 else Degree_Error=Degree_Error;
ooseausername 0:97b4f9625db2 65 if(Receive_Data[9]=='j') pwm_duty=148;
ooseausername 0:97b4f9625db2 66 else if (Receive_Data[9]=='k') pwm_duty=100;
ooseausername 0:97b4f9625db2 67 Command_Flag=0;
ooseausername 0:97b4f9625db2 68 }