File content as of revision 0:839e4a71257c:

#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;
            }
        }
        
    }
}