Diff: main.cpp

Revision:

1:3370c513ff5c

Parent:

0:1d2060237094

Child:

2:50b081df251a

--- a/main.cpp	Mon Oct 31 17:49:32 2016 +0000
+++ b/main.cpp	Sun Dec 04 15:43:34 2016 +0000
@@ -1,4 +1,6 @@
 #include "mbed.h"
+#include "AccelStepper.h"
+#include "math.h"
  
 //
 // By BalB
@@ -8,14 +10,29 @@
 AnalogIn top_right(A1); // Analog InPut
 AnalogIn bot_left(A2); // Analog InPut
 AnalogIn bot_right(A3); // Analog InPut
+AccelStepper stepper1(1 , PA_10, PB_3); //(mode DRIVER, pin1, pin2) STEPPER DE DENTRO DE LA MAQUINA (STEPS DE 1.8)
+AccelStepper stepper2(1 , PB_5, PB_4); //(mode DRIVER, pin1, pin2) STEPPER DE FUERA (EL QUE TIENE ENGRANAJES Y STEPS DE 0.6)
+const float stp1 = 1.8;
+const float stp2 =0.6;
+const int range1 = 32;
+const int range2 = 32;
+const float micro_steps1 = 1/(stp1/range1);//sale que hara 18 steps
+const float micro_steps2 = 1/(stp2/range2);//saln que hara 53 steps
+
 
 
 DigitalOut myled(LED1); // Digital OutPut
 Serial pc(SERIAL_TX, SERIAL_RX); // Default USART is: 8N1 NO FlowControl
+
+
 // Variables --------------------------------------------------------------
-uint16_t meas = 0;
-float_t Result_V = 0;
-float_t MinStepRes = 0;
+uint16_t measTL = 0;
+uint16_t measTR = 0;
+uint16_t measBL = 0;
+uint16_t measBR = 0;
+int i=0;
+char choice;
+
 //DigitalOut led(LED1);
 
 
@@ -29,8 +46,25 @@
 int main()
 {
     pc.printf("\n\r\n\rSTART program\n\r");
+    stepper1.setSpeed(50);
+    stepper1.setAcceleration(5000);
+    stepper1.setCurrentPosition(0);
+    stepper2.setSpeed(50);
+    stepper2.setAcceleration(5000);
+    stepper2.setCurrentPosition(0); 
     while(1)
-    {
+    {   
+        if(i==0)
+        {
+            pc.printf("Que vols fer, anar seguent grau?? (1)...Retrocedir ?? (2)");
+            while(!pc.readable());
+            choice=pc.getc();
+            pc.printf("char= %d" ,choice-48);
+            pc.printf("  ha leido");
+            stepper2.moveTo(rint(-60*micro_steps2));//moveTo Sets target position
+            stepper2.runToPosition();//Gives the order to go to that target position
+            wait_ms(1500);
+        }
         // Read the analog input value
         measTL = top_left.read_u16();
         measTR = top_right.read_u16();
@@ -40,26 +74,7 @@
         // Display the result via Virtual COM
         pc.printf("TOP_LEFT == %d || TOP_RIGHT == %d || BOT_LEFT == %d || BOT_RIGHT == %d ", measTL, measTR , measBL, measBR);
 
-        wait(0.8); // 800 ms
+        wait_ms(800); // 800 ms
     }
 }
 
-
-/*int main() {
-    float meas;
-    
-    printf("\nAnalogIn example\n");
-    
-    while(1) {
-        meas = analog_value.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
-        meas = meas * 3300; // Change the value to be in the 0 to 3300 range
-        printf("measure = %.0f mV\n", meas);
-        if (meas > 2000) { // If the value is greater than 2V then switch the LED on
-          led = 1;
-        }
-        else {
-          led = 0;
-        }
-        wait(0.2); // 200 ms
-    }
-}*/