Diff: main.cpp

Revision:

0:97b4f9625db2

Child:

1:836ed9afcb8a

diff -r 000000000000 -r 97b4f9625db2 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue May 24 14:16:46 2016 +0000
@@ -0,0 +1,68 @@
+#include "mbed.h"
+
+PwmOut mypwm(PWM_OUT);
+
+DigitalOut myled(LED1);
+
+int main() {
+    
+    mypwm.period_ms(10);
+    mypwm.pulsewidth_ms(1);
+  
+    printf("pwm set to %.2f %%\n", mypwm.read() * 100);
+    
+    while(1) {
+        myled = !myled;
+        wait(1);
+    }
+}
+void _ISR _U2RXInterrupt(void)
+{
+
+static char Temp;
+Temp=U2RXREG;
+if (Receive_Flag==1)
+{
+Receive_Counter++;
+Receive_Data[Receive_Counter]=Temp;
+
+if(Receive_Counter==9)
+{
+Command_Flag=1;
+Receive_Flag=0;
+Receive_Counter=0;
+}
+}
+else
+{
+if(Temp==36)
+{
+Receive_Flag=1;
+Receive_Counter=0;
+Receive_Data[0]= Temp;
+}
+else
+{
+}
+}
+IFS1bits.U2RXIF=0;
+}
+
+
+if(Command_Flag==1)
+{
+Position_Error=(Receive_Data[2]-0x30)*100+(Receive_Data[3]-0x30)*10+(Receive_Data[4]-0x30);
+
+if(Receive_Data[1]=='-')
+Position_Error=-1*Position_Error;
+else Position_Error=Position_Error; 
+
+Degree_Error=(Receive_Data[6]-0x30)*100+(Receive_Data[7]-0x30)*10+(Receive_Data[8]-0x30);
+
+if(Receive_Data[5]=='-')
+Degree_Error=-1*Degree_Error;
+else Degree_Error=Degree_Error;
+if(Receive_Data[9]=='j') pwm_duty=148;
+else if (Receive_Data[9]=='k') pwm_duty=100;
+Command_Flag=0;
+}
\ No newline at end of file