File content as of revision 1:3370c513ff5c:

#include "mbed.h"
#include "AccelStepper.h"
#include "math.h"
 
//
// By BalB
//
#include "mbed.h"
AnalogIn top_left(A0); // Analog InPut
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 measTL = 0;
uint16_t measTR = 0;
uint16_t measBL = 0;
uint16_t measBR = 0;
int i=0;
char choice;

//DigitalOut led(LED1);


// ATTENTION
// The two value below, must be changed in according to the Vcc and ADC
// resolution
float_t Valim = 3300; // This is the supplay voltage of ADC (or MCU)
float_t ADCres = 4096; // This is the ADC resolution that in this case si 12Bit
 // All NUCLEO boards use an ADC with 12bit resolution

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();
        measBL = bot_left.read_u16();
        measBR = bot_right.read_u16();

        // 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_ms(800); // 800 ms
    }
}