Signori, questo è il codice di doukietown...... divertitevi
Dependencies: HCSR04 TCS3200 X_NUCLEO_IHM12A1 mbed
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Diff: main.cpp
- Revision:
- 5:7517162fb2b9
- Parent:
- 2:1e4061cedf1d
- Child:
- 6:bd2fa888c101
--- a/main.cpp Wed Nov 23 09:19:34 2016 +0000 +++ b/main.cpp Fri Mar 24 11:01:02 2017 +0100 @@ -42,12 +42,12 @@ #include "mbed.h" /* Component specific header files. */ -#include "stspin240_250_class.h" +#include "STSpin240_250.h" /* Variables -----------------------------------------------------------------*/ /* Initialization parameters of the motor connected to the expansion board. */ - Stspin240_250_Init_t initDeviceParameters = + Stspin240_250_init_t init = { 20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz */ 20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz */ @@ -66,16 +66,15 @@ * @param[in] error Number of the error * @retval None * @note If needed, implement it, and then attach it: - * + motor->AttachErrorHandler(&myErrorHandler); + * + motor->attach_error_handler(&my_error_handler); */ -void myErrorHandler(uint16_t error) +void my_error_handler(uint16_t error) { /* Printing to the console. */ printf("Error %d detected\r\n\n", error); /* Infinite loop */ - while(1) - { + while (true) { } } @@ -84,12 +83,12 @@ * @param None * @retval None * @note If needed, implement it, and then attach and enable it: - * + motor->AttachFlagIRQ(&myFlagIRQHandler); - * + motor->EnableFlagIRQ(); + * + motor->attach_flag_irq(&my_flag_irq_handler); + * + motor->enable_flag_irq(); * To disable it: * + motor->DisbleFlagIRQ(); */ -void myFlagIRQHandler(void) +void my_flag_irq_handler(void) { /* Code to be customised */ /************************/ @@ -97,15 +96,13 @@ printf(" WARNING: \"FLAG\" interrupt triggered.\r\n"); /* Get the state of bridge A */ - uint16_t bridgeState = motor->GetBridgeStatus(0); + uint16_t bridgeState = motor->get_bridge_status(0); - if (bridgeState == 0) - { - if (motor->GetDeviceState(0) != INACTIVE) - { + if (bridgeState == 0) { + if (motor->get_device_state(0) != INACTIVE) { /* Bridges were disabled due to overcurrent or over temperature */ /* When motor was running */ - myErrorHandler(0XBAD0); + my_error_handler(0XBAD0); } } } @@ -129,133 +126,144 @@ #else motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A0); #endif - if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE); + if (motor->init(&init) != COMPONENT_OK) exit(EXIT_FAILURE); /* Set dual bridge enabled as two motors are used*/ - motor->SetDualFullBridgeConfig(1); + motor->set_dual_full_bridge_config(1); /* Attaching and enabling an interrupt handler. */ - motor->AttachFlagIRQ(&myFlagIRQHandler); - motor->EnableFlagIRQ(); + motor->attach_flag_irq(&my_flag_irq_handler); + motor->enable_flag_irq(); /* Attaching an error handler */ - motor->AttachErrorHandler(&myErrorHandler); + motor->attach_error_handler(&my_error_handler); /* Printing to the console. */ printf("Motor Control Application Example for 2 brush DC motors\r\n"); /* Set PWM Frequency of Ref to 15000 Hz */ - motor->SetRefPwmFreq(0, 15000); + motor->set_ref_pwm_freq(0, 15000); /* Set PWM duty cycle of Ref to 60% */ - motor->SetRefPwmDc(0, 60); + motor->set_ref_pwm_dc(0, 60); /* Set PWM Frequency of bridge A inputs to 10000 Hz */ - motor->SetBridgeInputPwmFreq(0,10000); + motor->set_bridge_input_pwm_freq(0,10000); /* Set PWM Frequency of bridge B inputs to 10000 Hz */ - motor->SetBridgeInputPwmFreq(1,10000); + motor->set_bridge_input_pwm_freq(1,10000); /* Infinite Loop. */ printf("--> Infinite Loop...\r\n"); - while (1) - { - switch (demoStep) - { - case 0: + while (true) { + switch (demoStep) { + case 0: { printf("STEP 0: Motor(0) FWD Speed=100%% - Motor(1) Inactive\r\n"); /* Set speed of motor 0 to 100 % */ - motor->SetSpeed(0,100); + motor->set_speed(0,100); /* start motor 0 to run forward*/ /* if chip is in standby mode */ /* it is automatically awakened */ - motor->Run(0, BDCMotor::FWD); + motor->run(0, BDCMotor::FWD); break; - case 1: + } + case 1: { printf("STEP 1: Motor(0) FWD Speed=75%% - Motor(1) BWD Speed=100%%\r\n"); /* Set speed of motor 0 to 75 % */ - motor->SetSpeed(0,75); + motor->set_speed(0,75); /* Set speed of motor 1 to 100 % */ - motor->SetSpeed(1,100); + motor->set_speed(1,100); /* start motor 1 to run backward */ - motor->Run(1, BDCMotor::BWD); + motor->run(1, BDCMotor::BWD); break; - case 2: + } + case 2: { printf("STEP 2: Motor(0) FWD Speed=50%% - Motor(1) BWD Speed=75%%\r\n"); /* Set speed of motor 0 to 50 % */ - motor->SetSpeed(0,50); + motor->set_speed(0,50); /* Set speed of motor 1 to 75% */ - motor->SetSpeed(1,75); - break; - case 3: + motor->set_speed(1,75); + break; + } + case 3: { printf("STEP 3: Motor(0) FWD Speed=25%% - Motor(1) BWD Speed=50%%\r\n"); /* Set speed of motor 0 to 25 % */ - motor->SetSpeed(0,25); + motor->set_speed(0,25); /* Set speed of motor 1 to 50% */ - motor->SetSpeed(1,50); - break; - case 4: + motor->set_speed(1,50); + break; + } + case 4: { printf("STEP 4: Motor(0) Stopped - Motor(1) BWD Speed=25%%\r\n"); /* Stop Motor 0 */ - motor->HardStop(0); + motor->hard_stop(0); /* Set speed of motor 1 to 25% */ - motor->SetSpeed(1,25); - break; - case 5: + motor->set_speed(1,25); + break; + } + case 5: { printf("STEP 5: Motor(0) BWD Speed=25%% - Motor(1) Stopped\r\n"); /* Set speed of motor 0 to 25 % */ - motor->SetSpeed(0,25); + motor->set_speed(0,25); /* start motor 0 to run backward */ - motor->Run(0, BDCMotor::BWD); + motor->run(0, BDCMotor::BWD); /* Stop Motor 1 */ - motor->HardStop(1); + motor->hard_stop(1); break; - case 6: + } + case 6: { printf("STEP 6: Motor(0) BWD Speed=50%% - Motor(1) FWD Speed=25%%\r\n"); /* Set speed of motor 0 to 50 % */ - motor->SetSpeed(0,50); + motor->set_speed(0,50); /* Set speed of motor 1 to 25 % */ - motor->SetSpeed(1,25); + motor->set_speed(1,25); /* start motor 1 to run backward */ - motor->Run(1, BDCMotor::FWD); + motor->run(1, BDCMotor::FWD); break; - case 7: + } + case 7: { printf("STEP 7: Motor(0) BWD Speed=75%% - Motor(1) FWD Speed=50%%\r\n"); /* Set speed of motor 0 to 75 % */ - motor->SetSpeed(0,75); + motor->set_speed(0,75); /* Set speed of motor 1 to 50 % */ - motor->SetSpeed(1,50); - break; - case 8: + motor->set_speed(1,50); + break; + } + case 8: { printf("STEP 8: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=75%%\r\n"); /* Set speed of motor 0 to 100 % */ - motor->SetSpeed(0,100); + motor->set_speed(0,100); /* Set speed of motor 1 to 75 % */ - motor->SetSpeed(1,75); - break; - case 9: + motor->set_speed(1,75); + break; + } + case 9: { printf("STEP 9: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n"); /* Set speed of motor 1 to 100 % */ - motor->SetSpeed(1,100); - break; - case 10: + motor->set_speed(1,100); + break; + } + case 10: { printf("STEP 10\r\n: Stop both motors and disable bridges\r\n"); /* Stop both motors and disable bridge */ - motor->HardHiZ(0); - motor->HardHiZ(1); - break; - case 11: + motor->hard_hiz(0); + motor->hard_hiz(1); + break; + } + case 11: { printf("STEP 11: Motor(0) FWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n"); /* Start both motors to go forward*/ - motor->Run(0,BDCMotor::FWD); - motor->Run(1,BDCMotor::FWD); - break; + motor->run(0,BDCMotor::FWD); + motor->run(1,BDCMotor::FWD); + break; + } case 12: - default: + default: { printf("STEP 12: Stop both motors and enter standby mode\r\n"); /* Stop both motors and put chip in standby mode */ motor->Reset(); - break; + break; + } } /* Wait for 5 seconds */ @@ -263,10 +271,10 @@ /* Increment demostep*/ demoStep++; - if (demoStep > 12) - { + if (demoStep > 12) { demoStep = 0; } } } + /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/