Diff: main.cpp

Revision:

0:839e4a71257c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 13 11:10:28 2020 +0000
@@ -0,0 +1,88 @@
+#include "mbed.h"
+
+DigitalOut myled(LED1);
+
+DigitalOut X_COIL_A1(D2);
+DigitalOut X_COIL_A2(D3);
+DigitalOut X_COIL_B1(D4);
+DigitalOut X_COIL_B2(D5);
+
+DigitalOut Y_COIL_A1(D6);
+DigitalOut Y_COIL_A2(D7);
+DigitalOut Y_COIL_B1(D8);
+DigitalOut Y_COIL_B2(D9);
+
+AnalogIn X_AXIS_ADC(A0);
+AnalogIn Y_AXIS_ADC(A1);
+
+Serial PC(USBTX, USBRX);
+
+int main() 
+{
+    float X_AXIS, Y_AXIS;
+    float X_PERIOD, Y_PERIOD;
+    int X_LAST_STEP = 1;
+    int Y_LAST_STEP = 1;
+    
+    while(1) 
+    {
+        X_AXIS = X_AXIS_ADC * 4096; //0 a 4096 degraus
+        Y_AXIS = Y_AXIS_ADC * 4096; //0 a 4096 degraus
+        
+        X_AXIS = X_AXIS - 2048; //ira descolar a leitura,pois o joystick em repouso entrega meia tensão
+        Y_AXIS = Y_AXIS - 2048; //ira descolar a leitura,pois o joystick em repouso entrega meia tensão
+        
+        X_PERIOD = 1 / X_AXIS; //1 a 0,000488 segundos (488uS)
+        Y_PERIOD = 1 / Y_AXIS; //1 a 0,000488 segundos (488uS)
+        
+        if(X_LAST_STEP > 4) X_LAST_STEP = 1; //reinicia o indexador de passos 
+        if(Y_LAST_STEP > 4) Y_LAST_STEP = 1; //reinicia o indexador de passos 
+        
+        
+        /*--------Rotina para rotacionar os motores----------------------------------------------------------------*/
+        if(X_AXIS > 10)
+        {
+            switch (X_LAST_STEP)
+            {
+                case 1: X_COIL_A1 = 1; X_COIL_A2 = 0; X_COIL_B1 = 0; X_COIL_B2 = 0; X_LAST_STEP++; wait(X_PERIOD); break;
+                case 2: X_COIL_A1 = 0; X_COIL_A2 = 1; X_COIL_B1 = 0; X_COIL_B2 = 0; X_LAST_STEP++; wait(X_PERIOD); break;
+                case 3: X_COIL_A1 = 0; X_COIL_A2 = 0; X_COIL_B1 = 1; X_COIL_B2 = 0; X_LAST_STEP++; wait(X_PERIOD); break;
+                case 4: X_COIL_A1 = 0; X_COIL_A2 = 0; X_COIL_B1 = 0; X_COIL_B2 = 1; X_LAST_STEP++; wait(X_PERIOD); break;
+            }
+        }
+        
+        if(X_AXIS < -10)
+        {
+            switch (X_LAST_STEP)
+            {
+                case 4: X_COIL_A1 = 1; X_COIL_A2 = 0; X_COIL_B1 = 0; X_COIL_B2 = 0; X_LAST_STEP++; wait(X_PERIOD); break;
+                case 3: X_COIL_A1 = 0; X_COIL_A2 = 1; X_COIL_B1 = 0; X_COIL_B2 = 0; X_LAST_STEP++; wait(X_PERIOD); break;
+                case 2: X_COIL_A1 = 0; X_COIL_A2 = 0; X_COIL_B1 = 1; X_COIL_B2 = 0; X_LAST_STEP++; wait(X_PERIOD); break;
+                case 1: X_COIL_A1 = 0; X_COIL_A2 = 0; X_COIL_B1 = 0; X_COIL_B2 = 1; X_LAST_STEP++; wait(X_PERIOD); break;
+            }
+        }
+        
+        if(Y_AXIS > 10)
+        {
+            switch (Y_LAST_STEP)
+            {
+                case 1: Y_COIL_A1 = 1; Y_COIL_A2 = 0; Y_COIL_B1 = 0; Y_COIL_B2 = 0; Y_LAST_STEP++; wait(Y_PERIOD); break;
+                case 2: Y_COIL_A1 = 0; Y_COIL_A2 = 1; Y_COIL_B1 = 0; Y_COIL_B2 = 0; Y_LAST_STEP++; wait(Y_PERIOD); break;
+                case 3: Y_COIL_A1 = 0; Y_COIL_A2 = 0; Y_COIL_B1 = 1; Y_COIL_B2 = 0; Y_LAST_STEP++; wait(Y_PERIOD); break;
+                case 4: Y_COIL_A1 = 0; Y_COIL_A2 = 0; Y_COIL_B1 = 0; Y_COIL_B2 = 1; Y_LAST_STEP++; wait(Y_PERIOD); break;
+            }
+        }
+        
+        if(Y_AXIS < -10)
+        {
+            switch (Y_LAST_STEP)
+            {
+                case 4: Y_COIL_A1 = 1; Y_COIL_A2 = 0; Y_COIL_B1 = 0; Y_COIL_B2 = 0; Y_LAST_STEP++; wait(Y_PERIOD); break;
+                case 3: Y_COIL_A1 = 0; Y_COIL_A2 = 1; Y_COIL_B1 = 0; Y_COIL_B2 = 0; Y_LAST_STEP++; wait(Y_PERIOD); break;
+                case 2: Y_COIL_A1 = 0; Y_COIL_A2 = 0; Y_COIL_B1 = 1; Y_COIL_B2 = 0; Y_LAST_STEP++; wait(Y_PERIOD); break;
+                case 1: Y_COIL_A1 = 0; Y_COIL_A2 = 0; Y_COIL_B1 = 0; Y_COIL_B2 = 1; Y_LAST_STEP++; wait(Y_PERIOD); break;
+            }
+        }
+        
+    }
+}