Diff: main.cpp

Revision:

0:509b29d50fcb

Child:

2:486bb9b6bd78

diff -r 000000000000 -r 509b29d50fcb main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jan 29 15:32:49 2019 +0000
@@ -0,0 +1,54 @@
+//Includes
+#include "mbed.h"
+#include "7366_lib.h"
+#include "TLE5206_lib.h"
+
+// Liaison SPI avec les compteurs 
+#define SPI_SCLK PA_5 //A4
+#define SPI_MISO PA_6 //A5
+#define SPI_MOSI PA_7 //A6
+#define SPI_CS3 PA_0//A0
+#define SPI_CS2 PA_1
+#define SPI_CS1 PA_3
+
+// Vers le pont en H
+#define H1_IN1 PA_9  //D1 - PWM1/2
+#define H1_IN2 PA_10 //D0 - PWM1/3
+#define H2_IN1 PA_8  //D9 - PWM1/1
+#define H2_IN2 PB_7  //D4 - PWM17/1
+#define H3_IN1 PB_6  //D5 - PWM16/1
+#define H3_IN2 PA_4  //A3 - PWM3/2
+
+#define DECOUP_HACH 50 //us - 20 000 kHz pour les oreilles
+
+
+DigitalOut myled(LED3);
+
+SPI_7366 compt1(SPI_MOSI, SPI_MISO, SPI_SCLK,SPI_CS1);
+SPI_7366 compt2(SPI_MOSI, SPI_MISO, SPI_SCLK,SPI_CS2);
+SPI_7366 compt3(SPI_MOSI, SPI_MISO, SPI_SCLK,SPI_CS3);
+
+TLE5206 moteur1(H1_IN1,H1_IN2);
+TLE5206 moteur2(H2_IN1,H2_IN2);
+TLE5206 moteur3(H3_IN1,H3_IN2);
+
+int main() {
+    compt1.setup();
+    compt2.setup();
+    compt3.setup();
+    
+    moteur1.setup(DECOUP_HACH);
+    moteur2.setup(DECOUP_HACH);
+    moteur3.setup(DECOUP_HACH);
+    
+    moteur1.write(-0.4);
+    moteur2.write(-0.7);
+    moteur3.write(0.7);
+    
+    // Loop
+    while(1) {
+        compt3.read_value();
+        myled = !myled;
+        wait(1);
+    }
+}
\ No newline at end of file