Main Code
Dependencies: PinDetect Ulrasonic mbed-rtos mbed WTV020SD_Sound_Breakout_Library
Fork of MC by
main.cpp@26:57c62b925064, 2016-05-30 (annotated)
- Committer:
- mjhaugsdal
- Date:
- Mon May 30 09:15:51 2016 +0000
- Revision:
- 26:57c62b925064
- Parent:
- 25:321b970eb3ff
- Child:
- 27:35c962e8e95b
Temp save. Tested stepcounter on bootup
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
rlanghbv | 0:bd78e433db61 | 1 | #include "mbed.h" |
mjhaugsdal | 1:a3287196a9b3 | 2 | #include "rtos.h" |
mjhaugsdal | 23:ad08a8eabc24 | 3 | #include "PinDetect.h" |
rlanghbv | 0:bd78e433db61 | 4 | |
rlanghbv | 2:25bcc26f7a5b | 5 | Serial pc(USBTX, USBRX); // tx, rx |
mjhaugsdal | 25:321b970eb3ff | 6 | |
mjhaugsdal | 25:321b970eb3ff | 7 | //Mid |
mjhaugsdal | 25:321b970eb3ff | 8 | PinDetect pb3(A4); |
mjhaugsdal | 25:321b970eb3ff | 9 | PinDetect pb4(A5); |
mjhaugsdal | 25:321b970eb3ff | 10 | |
mjhaugsdal | 25:321b970eb3ff | 11 | //Bottom |
mjhaugsdal | 25:321b970eb3ff | 12 | PinDetect pb1(D14); |
mjhaugsdal | 25:321b970eb3ff | 13 | PinDetect pb2(D15); |
mjhaugsdal | 25:321b970eb3ff | 14 | |
mjhaugsdal | 25:321b970eb3ff | 15 | //Top |
mjhaugsdal | 25:321b970eb3ff | 16 | PinDetect pb5(D12); |
mjhaugsdal | 25:321b970eb3ff | 17 | PinDetect pb6(D13); |
rlanghbv | 0:bd78e433db61 | 18 | |
mjhaugsdal | 1:a3287196a9b3 | 19 | //Analog Pins |
mjhaugsdal | 5:fdc7a779d525 | 20 | //First engine |
mjhaugsdal | 5:fdc7a779d525 | 21 | DigitalOut IN1(A0); |
mjhaugsdal | 5:fdc7a779d525 | 22 | DigitalOut IN2(A1); |
mjhaugsdal | 5:fdc7a779d525 | 23 | DigitalOut IN3(A2); |
mjhaugsdal | 5:fdc7a779d525 | 24 | DigitalOut IN4(A3); |
mjhaugsdal | 5:fdc7a779d525 | 25 | //Second engine |
mjhaugsdal | 25:321b970eb3ff | 26 | DigitalOut IN5(D8); |
mjhaugsdal | 25:321b970eb3ff | 27 | DigitalOut IN6(D9); |
mjhaugsdal | 25:321b970eb3ff | 28 | DigitalOut IN7(D10); |
mjhaugsdal | 25:321b970eb3ff | 29 | DigitalOut IN8(D11); |
mjhaugsdal | 16:a3555918c025 | 30 | //Third Engine |
mjhaugsdal | 25:321b970eb3ff | 31 | DigitalOut IN9(D3); |
mjhaugsdal | 25:321b970eb3ff | 32 | DigitalOut IN10(D4); |
mjhaugsdal | 25:321b970eb3ff | 33 | DigitalOut IN11(D5); |
mjhaugsdal | 25:321b970eb3ff | 34 | DigitalOut IN12(D6); |
mjhaugsdal | 5:fdc7a779d525 | 35 | |
rlanghbv | 0:bd78e433db61 | 36 | |
mjhaugsdal | 26:57c62b925064 | 37 | static int speed = 5000; |
mjhaugsdal | 25:321b970eb3ff | 38 | static int bootStep1 = 100; |
mjhaugsdal | 25:321b970eb3ff | 39 | static int bootStep2 = 100; |
mjhaugsdal | 25:321b970eb3ff | 40 | static int bootStep3 = 100; |
mjhaugsdal | 3:15be78948724 | 41 | static char m_cmd = 'x'; |
mjhaugsdal | 23:ad08a8eabc24 | 42 | static bool e1 = true; |
mjhaugsdal | 23:ad08a8eabc24 | 43 | static bool e2 = true; |
mjhaugsdal | 23:ad08a8eabc24 | 44 | static bool e3 = true; |
mjhaugsdal | 25:321b970eb3ff | 45 | static bool rest = false; |
rlanghbv | 0:bd78e433db61 | 46 | |
mjhaugsdal | 26:57c62b925064 | 47 | static bool sync1 = false; |
mjhaugsdal | 26:57c62b925064 | 48 | static bool sync2 = false; |
mjhaugsdal | 26:57c62b925064 | 49 | static bool sync3 = false; |
mjhaugsdal | 26:57c62b925064 | 50 | |
mjhaugsdal | 24:24c91a6ae6ba | 51 | static int steps1 = 0; |
mjhaugsdal | 24:24c91a6ae6ba | 52 | static int steps2 = 0; |
mjhaugsdal | 24:24c91a6ae6ba | 53 | static int steps3 = 0; |
mjhaugsdal | 24:24c91a6ae6ba | 54 | |
mjhaugsdal | 24:24c91a6ae6ba | 55 | |
mjhaugsdal | 21:9f3ae352ee63 | 56 | //Methods to set pins to control direction. |
mjhaugsdal | 17:ff0021c4dcdc | 57 | void stepAllRight() |
rlanghbv | 0:bd78e433db61 | 58 | { |
mjhaugsdal | 6:ac5d277bd497 | 59 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 60 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 61 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 62 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 63 | IN4=1; |
mjhaugsdal | 6:ac5d277bd497 | 64 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 65 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 66 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 67 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 68 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 69 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 70 | IN9=0; |
mjhaugsdal | 17:ff0021c4dcdc | 71 | IN10=1; |
mjhaugsdal | 17:ff0021c4dcdc | 72 | IN11=0; |
mjhaugsdal | 17:ff0021c4dcdc | 73 | IN12=1; |
mjhaugsdal | 24:24c91a6ae6ba | 74 | wait_us(speed); //legg som global variabel "fart" |
mjhaugsdal | 6:ac5d277bd497 | 75 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 76 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 77 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 78 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 79 | IN4=0; |
mjhaugsdal | 6:ac5d277bd497 | 80 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 81 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 82 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 83 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 84 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 85 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 86 | IN9=0; |
mjhaugsdal | 17:ff0021c4dcdc | 87 | IN10=1; |
mjhaugsdal | 17:ff0021c4dcdc | 88 | IN11=1; |
mjhaugsdal | 17:ff0021c4dcdc | 89 | IN12=0; |
mjhaugsdal | 24:24c91a6ae6ba | 90 | wait_us(speed); |
mjhaugsdal | 6:ac5d277bd497 | 91 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 92 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 93 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 94 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 95 | IN4=0; |
mjhaugsdal | 6:ac5d277bd497 | 96 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 97 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 98 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 99 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 100 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 101 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 102 | IN9=1; |
mjhaugsdal | 17:ff0021c4dcdc | 103 | IN10=0; |
mjhaugsdal | 17:ff0021c4dcdc | 104 | IN11=1; |
mjhaugsdal | 17:ff0021c4dcdc | 105 | IN12=0; |
mjhaugsdal | 24:24c91a6ae6ba | 106 | wait_us(speed); |
mjhaugsdal | 6:ac5d277bd497 | 107 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 108 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 109 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 110 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 111 | IN4=1; |
mjhaugsdal | 6:ac5d277bd497 | 112 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 113 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 114 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 115 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 116 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 117 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 118 | IN9=1; |
mjhaugsdal | 17:ff0021c4dcdc | 119 | IN10=0; |
mjhaugsdal | 17:ff0021c4dcdc | 120 | IN11=0; |
mjhaugsdal | 17:ff0021c4dcdc | 121 | IN12=1; |
mjhaugsdal | 24:24c91a6ae6ba | 122 | wait_us(speed); |
rlanghbv | 0:bd78e433db61 | 123 | } |
mjhaugsdal | 17:ff0021c4dcdc | 124 | void stepAllLeft() |
rlanghbv | 0:bd78e433db61 | 125 | { |
mjhaugsdal | 6:ac5d277bd497 | 126 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 127 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 128 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 129 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 130 | IN4=1; |
mjhaugsdal | 6:ac5d277bd497 | 131 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 132 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 133 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 134 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 135 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 136 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 137 | IN9=1; |
mjhaugsdal | 17:ff0021c4dcdc | 138 | IN10=0; |
mjhaugsdal | 17:ff0021c4dcdc | 139 | IN11=0; |
mjhaugsdal | 17:ff0021c4dcdc | 140 | IN12=1; |
mjhaugsdal | 24:24c91a6ae6ba | 141 | wait_us(speed); |
mjhaugsdal | 6:ac5d277bd497 | 142 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 143 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 144 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 145 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 146 | IN4=0; |
mjhaugsdal | 6:ac5d277bd497 | 147 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 148 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 149 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 150 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 151 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 152 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 153 | IN9=1; |
mjhaugsdal | 17:ff0021c4dcdc | 154 | IN10=0; |
mjhaugsdal | 17:ff0021c4dcdc | 155 | IN11=1; |
mjhaugsdal | 17:ff0021c4dcdc | 156 | IN12=0; |
mjhaugsdal | 24:24c91a6ae6ba | 157 | wait_us(speed); |
mjhaugsdal | 6:ac5d277bd497 | 158 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 159 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 160 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 161 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 162 | IN4=0; |
mjhaugsdal | 6:ac5d277bd497 | 163 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 164 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 165 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 166 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 167 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 168 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 169 | IN9=0; |
mjhaugsdal | 17:ff0021c4dcdc | 170 | IN10=1; |
mjhaugsdal | 17:ff0021c4dcdc | 171 | IN11=1; |
mjhaugsdal | 17:ff0021c4dcdc | 172 | IN12=0; |
mjhaugsdal | 24:24c91a6ae6ba | 173 | wait_us(speed); |
mjhaugsdal | 6:ac5d277bd497 | 174 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 175 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 176 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 177 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 178 | IN4=1; |
mjhaugsdal | 6:ac5d277bd497 | 179 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 180 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 181 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 182 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 183 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 184 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 185 | IN9=0; |
mjhaugsdal | 17:ff0021c4dcdc | 186 | IN10=1; |
mjhaugsdal | 17:ff0021c4dcdc | 187 | IN11=0; |
mjhaugsdal | 17:ff0021c4dcdc | 188 | IN12=1; |
mjhaugsdal | 24:24c91a6ae6ba | 189 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 190 | } |
mjhaugsdal | 17:ff0021c4dcdc | 191 | |
mjhaugsdal | 17:ff0021c4dcdc | 192 | void stepEngine1Left() |
mjhaugsdal | 17:ff0021c4dcdc | 193 | { |
mjhaugsdal | 17:ff0021c4dcdc | 194 | //engine 1 |
mjhaugsdal | 17:ff0021c4dcdc | 195 | IN1=1; |
mjhaugsdal | 17:ff0021c4dcdc | 196 | IN2=0; |
mjhaugsdal | 17:ff0021c4dcdc | 197 | IN3=0; |
mjhaugsdal | 17:ff0021c4dcdc | 198 | IN4=1; |
mjhaugsdal | 24:24c91a6ae6ba | 199 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 200 | IN1=1; |
mjhaugsdal | 17:ff0021c4dcdc | 201 | IN2=0; |
mjhaugsdal | 17:ff0021c4dcdc | 202 | IN3=1; |
mjhaugsdal | 17:ff0021c4dcdc | 203 | IN4=0; |
mjhaugsdal | 24:24c91a6ae6ba | 204 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 205 | IN1=0; |
mjhaugsdal | 17:ff0021c4dcdc | 206 | IN2=1; |
mjhaugsdal | 17:ff0021c4dcdc | 207 | IN3=1; |
mjhaugsdal | 17:ff0021c4dcdc | 208 | IN4=0; |
mjhaugsdal | 24:24c91a6ae6ba | 209 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 210 | IN1=0; |
mjhaugsdal | 17:ff0021c4dcdc | 211 | IN2=1; |
mjhaugsdal | 17:ff0021c4dcdc | 212 | IN3=0; |
mjhaugsdal | 17:ff0021c4dcdc | 213 | IN4=1; |
mjhaugsdal | 24:24c91a6ae6ba | 214 | wait_us(speed); |
rlanghbv | 0:bd78e433db61 | 215 | } |
rlanghbv | 0:bd78e433db61 | 216 | |
mjhaugsdal | 17:ff0021c4dcdc | 217 | void stepEngine1Right() |
mjhaugsdal | 17:ff0021c4dcdc | 218 | { |
mjhaugsdal | 17:ff0021c4dcdc | 219 | //engine 1 |
mjhaugsdal | 17:ff0021c4dcdc | 220 | IN1=0; |
mjhaugsdal | 17:ff0021c4dcdc | 221 | IN2=1; |
mjhaugsdal | 17:ff0021c4dcdc | 222 | IN3=0; |
mjhaugsdal | 17:ff0021c4dcdc | 223 | IN4=1; |
mjhaugsdal | 24:24c91a6ae6ba | 224 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 225 | IN1=0; |
mjhaugsdal | 17:ff0021c4dcdc | 226 | IN2=1; |
mjhaugsdal | 17:ff0021c4dcdc | 227 | IN3=1; |
mjhaugsdal | 17:ff0021c4dcdc | 228 | IN4=0; |
mjhaugsdal | 24:24c91a6ae6ba | 229 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 230 | IN1=1; |
mjhaugsdal | 17:ff0021c4dcdc | 231 | IN2=0; |
mjhaugsdal | 17:ff0021c4dcdc | 232 | IN3=1; |
mjhaugsdal | 17:ff0021c4dcdc | 233 | IN4=0; |
mjhaugsdal | 24:24c91a6ae6ba | 234 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 235 | IN1=1; |
mjhaugsdal | 17:ff0021c4dcdc | 236 | IN2=0; |
mjhaugsdal | 17:ff0021c4dcdc | 237 | IN3=0; |
mjhaugsdal | 17:ff0021c4dcdc | 238 | IN4=1; |
mjhaugsdal | 24:24c91a6ae6ba | 239 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 240 | } |
mjhaugsdal | 17:ff0021c4dcdc | 241 | |
mjhaugsdal | 17:ff0021c4dcdc | 242 | void stepEngine2Right() |
mjhaugsdal | 17:ff0021c4dcdc | 243 | { |
mjhaugsdal | 17:ff0021c4dcdc | 244 | //engine 1 |
mjhaugsdal | 17:ff0021c4dcdc | 245 | IN5=0; |
mjhaugsdal | 17:ff0021c4dcdc | 246 | IN6=1; |
mjhaugsdal | 17:ff0021c4dcdc | 247 | IN7=0; |
mjhaugsdal | 17:ff0021c4dcdc | 248 | IN8=1; |
mjhaugsdal | 24:24c91a6ae6ba | 249 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 250 | IN5=0; |
mjhaugsdal | 17:ff0021c4dcdc | 251 | IN6=1; |
mjhaugsdal | 17:ff0021c4dcdc | 252 | IN7=1; |
mjhaugsdal | 17:ff0021c4dcdc | 253 | IN8=0; |
mjhaugsdal | 24:24c91a6ae6ba | 254 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 255 | IN5=1; |
mjhaugsdal | 17:ff0021c4dcdc | 256 | IN6=0; |
mjhaugsdal | 17:ff0021c4dcdc | 257 | IN7=1; |
mjhaugsdal | 17:ff0021c4dcdc | 258 | IN8=0; |
mjhaugsdal | 24:24c91a6ae6ba | 259 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 260 | IN5=1; |
mjhaugsdal | 17:ff0021c4dcdc | 261 | IN6=0; |
mjhaugsdal | 17:ff0021c4dcdc | 262 | IN7=0; |
mjhaugsdal | 17:ff0021c4dcdc | 263 | IN8=1; |
mjhaugsdal | 24:24c91a6ae6ba | 264 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 265 | } |
mjhaugsdal | 17:ff0021c4dcdc | 266 | |
mjhaugsdal | 17:ff0021c4dcdc | 267 | void stepEngine2Left() |
mjhaugsdal | 17:ff0021c4dcdc | 268 | { |
mjhaugsdal | 17:ff0021c4dcdc | 269 | //engine 1 |
mjhaugsdal | 17:ff0021c4dcdc | 270 | IN5=1; |
mjhaugsdal | 17:ff0021c4dcdc | 271 | IN6=0; |
mjhaugsdal | 17:ff0021c4dcdc | 272 | IN7=0; |
mjhaugsdal | 17:ff0021c4dcdc | 273 | IN8=1; |
mjhaugsdal | 24:24c91a6ae6ba | 274 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 275 | IN5=1; |
mjhaugsdal | 17:ff0021c4dcdc | 276 | IN6=0; |
mjhaugsdal | 17:ff0021c4dcdc | 277 | IN7=1; |
mjhaugsdal | 17:ff0021c4dcdc | 278 | IN8=0; |
mjhaugsdal | 24:24c91a6ae6ba | 279 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 280 | IN5=0; |
mjhaugsdal | 17:ff0021c4dcdc | 281 | IN6=1; |
mjhaugsdal | 17:ff0021c4dcdc | 282 | IN7=1; |
mjhaugsdal | 17:ff0021c4dcdc | 283 | IN8=0; |
mjhaugsdal | 24:24c91a6ae6ba | 284 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 285 | IN5=0; |
mjhaugsdal | 17:ff0021c4dcdc | 286 | IN6=1; |
mjhaugsdal | 17:ff0021c4dcdc | 287 | IN7=0; |
mjhaugsdal | 17:ff0021c4dcdc | 288 | IN8=1; |
mjhaugsdal | 24:24c91a6ae6ba | 289 | wait_us(speed); |
mjhaugsdal | 17:ff0021c4dcdc | 290 | } |
mjhaugsdal | 17:ff0021c4dcdc | 291 | |
mjhaugsdal | 19:79600d3509d7 | 292 | void stepEngine3Right() |
mjhaugsdal | 19:79600d3509d7 | 293 | { |
mjhaugsdal | 19:79600d3509d7 | 294 | //engine 1 |
mjhaugsdal | 19:79600d3509d7 | 295 | IN9=0; |
mjhaugsdal | 19:79600d3509d7 | 296 | IN10=1; |
mjhaugsdal | 19:79600d3509d7 | 297 | IN11=0; |
mjhaugsdal | 19:79600d3509d7 | 298 | IN12=1; |
mjhaugsdal | 24:24c91a6ae6ba | 299 | wait_us(speed); |
mjhaugsdal | 19:79600d3509d7 | 300 | IN9=0; |
mjhaugsdal | 19:79600d3509d7 | 301 | IN10=1; |
mjhaugsdal | 19:79600d3509d7 | 302 | IN11=1; |
mjhaugsdal | 19:79600d3509d7 | 303 | IN12=0; |
mjhaugsdal | 24:24c91a6ae6ba | 304 | wait_us(speed); |
mjhaugsdal | 19:79600d3509d7 | 305 | IN9=1; |
mjhaugsdal | 19:79600d3509d7 | 306 | IN10=0; |
mjhaugsdal | 19:79600d3509d7 | 307 | IN11=1; |
mjhaugsdal | 19:79600d3509d7 | 308 | IN12=0; |
mjhaugsdal | 24:24c91a6ae6ba | 309 | wait_us(speed); |
mjhaugsdal | 19:79600d3509d7 | 310 | IN9=1; |
mjhaugsdal | 19:79600d3509d7 | 311 | IN10=0; |
mjhaugsdal | 19:79600d3509d7 | 312 | IN11=0; |
mjhaugsdal | 19:79600d3509d7 | 313 | IN12=1; |
mjhaugsdal | 24:24c91a6ae6ba | 314 | wait_us(speed); |
mjhaugsdal | 19:79600d3509d7 | 315 | } |
mjhaugsdal | 19:79600d3509d7 | 316 | |
mjhaugsdal | 19:79600d3509d7 | 317 | void stepEngine3Left() |
mjhaugsdal | 19:79600d3509d7 | 318 | { |
mjhaugsdal | 19:79600d3509d7 | 319 | //engine 1 |
mjhaugsdal | 19:79600d3509d7 | 320 | IN9=1; |
mjhaugsdal | 19:79600d3509d7 | 321 | IN10=0; |
mjhaugsdal | 19:79600d3509d7 | 322 | IN11=0; |
mjhaugsdal | 19:79600d3509d7 | 323 | IN12=1; |
mjhaugsdal | 24:24c91a6ae6ba | 324 | wait_us(speed); |
mjhaugsdal | 19:79600d3509d7 | 325 | IN9=1; |
mjhaugsdal | 19:79600d3509d7 | 326 | IN10=0; |
mjhaugsdal | 19:79600d3509d7 | 327 | IN11=1; |
mjhaugsdal | 19:79600d3509d7 | 328 | IN12=0; |
mjhaugsdal | 24:24c91a6ae6ba | 329 | wait_us(speed); |
mjhaugsdal | 19:79600d3509d7 | 330 | IN9=0; |
mjhaugsdal | 19:79600d3509d7 | 331 | IN10=1; |
mjhaugsdal | 19:79600d3509d7 | 332 | IN11=1; |
mjhaugsdal | 19:79600d3509d7 | 333 | IN12=0; |
mjhaugsdal | 24:24c91a6ae6ba | 334 | wait_us(speed); |
mjhaugsdal | 19:79600d3509d7 | 335 | IN9=0; |
mjhaugsdal | 19:79600d3509d7 | 336 | IN10=1; |
mjhaugsdal | 19:79600d3509d7 | 337 | IN11=0; |
mjhaugsdal | 19:79600d3509d7 | 338 | IN12=1; |
mjhaugsdal | 24:24c91a6ae6ba | 339 | wait_us(speed); |
mjhaugsdal | 19:79600d3509d7 | 340 | } |
mjhaugsdal | 19:79600d3509d7 | 341 | |
mjhaugsdal | 23:ad08a8eabc24 | 342 | |
mjhaugsdal | 23:ad08a8eabc24 | 343 | void step1() |
mjhaugsdal | 23:ad08a8eabc24 | 344 | { |
mjhaugsdal | 23:ad08a8eabc24 | 345 | //engine 1 |
mjhaugsdal | 23:ad08a8eabc24 | 346 | IN1=1; |
mjhaugsdal | 23:ad08a8eabc24 | 347 | IN2=0; |
mjhaugsdal | 23:ad08a8eabc24 | 348 | IN3=0; |
mjhaugsdal | 23:ad08a8eabc24 | 349 | IN4=1; |
mjhaugsdal | 23:ad08a8eabc24 | 350 | } |
mjhaugsdal | 23:ad08a8eabc24 | 351 | |
mjhaugsdal | 23:ad08a8eabc24 | 352 | void step2() |
mjhaugsdal | 23:ad08a8eabc24 | 353 | { |
mjhaugsdal | 23:ad08a8eabc24 | 354 | //engine 1 |
mjhaugsdal | 23:ad08a8eabc24 | 355 | IN1=0; |
mjhaugsdal | 23:ad08a8eabc24 | 356 | IN2=1; |
mjhaugsdal | 23:ad08a8eabc24 | 357 | IN3=0; |
mjhaugsdal | 23:ad08a8eabc24 | 358 | IN4=1; |
mjhaugsdal | 23:ad08a8eabc24 | 359 | } |
mjhaugsdal | 23:ad08a8eabc24 | 360 | |
mjhaugsdal | 23:ad08a8eabc24 | 361 | void wait() |
mjhaugsdal | 23:ad08a8eabc24 | 362 | { |
mjhaugsdal | 24:24c91a6ae6ba | 363 | wait_us(speed); |
mjhaugsdal | 23:ad08a8eabc24 | 364 | |
mjhaugsdal | 23:ad08a8eabc24 | 365 | } |
mjhaugsdal | 23:ad08a8eabc24 | 366 | |
mjhaugsdal | 21:9f3ae352ee63 | 367 | //Method to release all engines. |
mjhaugsdal | 18:ef02a9014491 | 368 | void stopAll() |
mjhaugsdal | 18:ef02a9014491 | 369 | { |
mjhaugsdal | 18:ef02a9014491 | 370 | IN1=0; |
mjhaugsdal | 18:ef02a9014491 | 371 | IN2=0; |
mjhaugsdal | 18:ef02a9014491 | 372 | IN3=0; |
mjhaugsdal | 18:ef02a9014491 | 373 | IN4=0; |
mjhaugsdal | 18:ef02a9014491 | 374 | IN5=0; |
mjhaugsdal | 18:ef02a9014491 | 375 | IN6=0; |
mjhaugsdal | 18:ef02a9014491 | 376 | IN7=0; |
mjhaugsdal | 18:ef02a9014491 | 377 | IN8=0; |
mjhaugsdal | 18:ef02a9014491 | 378 | IN9=0; |
mjhaugsdal | 18:ef02a9014491 | 379 | IN10=0; |
mjhaugsdal | 18:ef02a9014491 | 380 | IN11=0; |
mjhaugsdal | 18:ef02a9014491 | 381 | IN12=0; |
mjhaugsdal | 18:ef02a9014491 | 382 | } |
mjhaugsdal | 18:ef02a9014491 | 383 | |
mjhaugsdal | 21:9f3ae352ee63 | 384 | //Methods to release single engines. |
mjhaugsdal | 20:d90bd1718078 | 385 | void stopE1() |
mjhaugsdal | 20:d90bd1718078 | 386 | { |
mjhaugsdal | 20:d90bd1718078 | 387 | IN1=0; |
mjhaugsdal | 20:d90bd1718078 | 388 | IN2=0; |
mjhaugsdal | 20:d90bd1718078 | 389 | IN3=0; |
mjhaugsdal | 20:d90bd1718078 | 390 | IN4=0; |
mjhaugsdal | 20:d90bd1718078 | 391 | |
mjhaugsdal | 20:d90bd1718078 | 392 | } |
mjhaugsdal | 20:d90bd1718078 | 393 | void stopE2() |
mjhaugsdal | 20:d90bd1718078 | 394 | { |
mjhaugsdal | 20:d90bd1718078 | 395 | IN5=0; |
mjhaugsdal | 20:d90bd1718078 | 396 | IN6=0; |
mjhaugsdal | 20:d90bd1718078 | 397 | IN7=0; |
mjhaugsdal | 20:d90bd1718078 | 398 | IN8=0; |
mjhaugsdal | 20:d90bd1718078 | 399 | |
mjhaugsdal | 20:d90bd1718078 | 400 | } |
mjhaugsdal | 20:d90bd1718078 | 401 | void stopE3() |
mjhaugsdal | 20:d90bd1718078 | 402 | { |
mjhaugsdal | 20:d90bd1718078 | 403 | IN9=0; |
mjhaugsdal | 20:d90bd1718078 | 404 | IN10=0; |
mjhaugsdal | 20:d90bd1718078 | 405 | IN11=0; |
mjhaugsdal | 20:d90bd1718078 | 406 | IN12=0; |
mjhaugsdal | 20:d90bd1718078 | 407 | |
mjhaugsdal | 20:d90bd1718078 | 408 | } |
mjhaugsdal | 20:d90bd1718078 | 409 | |
mjhaugsdal | 17:ff0021c4dcdc | 410 | |
mjhaugsdal | 17:ff0021c4dcdc | 411 | |
mjhaugsdal | 19:79600d3509d7 | 412 | |
mjhaugsdal | 19:79600d3509d7 | 413 | |
mjhaugsdal | 23:ad08a8eabc24 | 414 | |
mjhaugsdal | 23:ad08a8eabc24 | 415 | |
mjhaugsdal | 1:a3287196a9b3 | 416 | void input(void const *args) |
mjhaugsdal | 1:a3287196a9b3 | 417 | { |
mjhaugsdal | 1:a3287196a9b3 | 418 | while(true) |
mjhaugsdal | 1:a3287196a9b3 | 419 | { |
mjhaugsdal | 3:15be78948724 | 420 | |
rlanghbv | 2:25bcc26f7a5b | 421 | if(pc.readable()) |
mjhaugsdal | 3:15be78948724 | 422 | { m_cmd=pc.getc(); |
mjhaugsdal | 3:15be78948724 | 423 | |
mjhaugsdal | 17:ff0021c4dcdc | 424 | } |
mjhaugsdal | 17:ff0021c4dcdc | 425 | |
mjhaugsdal | 23:ad08a8eabc24 | 426 | Thread::wait(100); |
mjhaugsdal | 5:fdc7a779d525 | 427 | //pc.printf("%d", steps); |
mjhaugsdal | 23:ad08a8eabc24 | 428 | |
mjhaugsdal | 1:a3287196a9b3 | 429 | } |
mjhaugsdal | 1:a3287196a9b3 | 430 | } |
rlanghbv | 0:bd78e433db61 | 431 | |
mjhaugsdal | 25:321b970eb3ff | 432 | |
mjhaugsdal | 26:57c62b925064 | 433 | //MOTOR 1 RIGHT SIDE BUTTON |
mjhaugsdal | 25:321b970eb3ff | 434 | void pb1_hit_callback (void) |
mjhaugsdal | 23:ad08a8eabc24 | 435 | { |
mjhaugsdal | 25:321b970eb3ff | 436 | if(rest == false) |
mjhaugsdal | 25:321b970eb3ff | 437 | { |
mjhaugsdal | 25:321b970eb3ff | 438 | e1 = false; |
mjhaugsdal | 25:321b970eb3ff | 439 | |
mjhaugsdal | 26:57c62b925064 | 440 | //speed = 2000; |
mjhaugsdal | 26:57c62b925064 | 441 | if (sync1 == true) |
mjhaugsdal | 25:321b970eb3ff | 442 | { |
mjhaugsdal | 26:57c62b925064 | 443 | Thread::wait(1000); |
mjhaugsdal | 26:57c62b925064 | 444 | |
mjhaugsdal | 26:57c62b925064 | 445 | int stepsToCenter = steps1/2; |
mjhaugsdal | 26:57c62b925064 | 446 | |
mjhaugsdal | 26:57c62b925064 | 447 | while (stepsToCenter >= 0) |
mjhaugsdal | 26:57c62b925064 | 448 | { |
mjhaugsdal | 26:57c62b925064 | 449 | stepEngine1Left(); |
mjhaugsdal | 26:57c62b925064 | 450 | stepsToCenter --; |
mjhaugsdal | 26:57c62b925064 | 451 | } |
mjhaugsdal | 26:57c62b925064 | 452 | //break; |
mjhaugsdal | 26:57c62b925064 | 453 | |
mjhaugsdal | 25:321b970eb3ff | 454 | } |
mjhaugsdal | 25:321b970eb3ff | 455 | } |
mjhaugsdal | 25:321b970eb3ff | 456 | |
mjhaugsdal | 23:ad08a8eabc24 | 457 | |
mjhaugsdal | 23:ad08a8eabc24 | 458 | |
mjhaugsdal | 25:321b970eb3ff | 459 | } |
mjhaugsdal | 25:321b970eb3ff | 460 | |
mjhaugsdal | 25:321b970eb3ff | 461 | |
mjhaugsdal | 26:57c62b925064 | 462 | //MOTOR 1 LEFT SIDE BUTTON |
mjhaugsdal | 25:321b970eb3ff | 463 | void pb2_hit_callback (void) |
mjhaugsdal | 25:321b970eb3ff | 464 | { |
mjhaugsdal | 25:321b970eb3ff | 465 | if(rest == false) |
mjhaugsdal | 25:321b970eb3ff | 466 | { |
mjhaugsdal | 25:321b970eb3ff | 467 | e1 = false; |
mjhaugsdal | 25:321b970eb3ff | 468 | //m_cmd = 'x'; |
mjhaugsdal | 23:ad08a8eabc24 | 469 | |
mjhaugsdal | 26:57c62b925064 | 470 | //speed = 2000; |
mjhaugsdal | 26:57c62b925064 | 471 | if (sync1 == true) |
mjhaugsdal | 25:321b970eb3ff | 472 | { |
mjhaugsdal | 26:57c62b925064 | 473 | Thread::wait(1000); |
mjhaugsdal | 26:57c62b925064 | 474 | int stepsToCenter = 242; |
mjhaugsdal | 26:57c62b925064 | 475 | |
mjhaugsdal | 26:57c62b925064 | 476 | while (stepsToCenter >= 0) |
mjhaugsdal | 26:57c62b925064 | 477 | { |
mjhaugsdal | 26:57c62b925064 | 478 | stepEngine1Right(); |
mjhaugsdal | 26:57c62b925064 | 479 | stepsToCenter --; |
mjhaugsdal | 26:57c62b925064 | 480 | } |
mjhaugsdal | 25:321b970eb3ff | 481 | } |
mjhaugsdal | 25:321b970eb3ff | 482 | } |
mjhaugsdal | 25:321b970eb3ff | 483 | |
mjhaugsdal | 25:321b970eb3ff | 484 | } |
mjhaugsdal | 25:321b970eb3ff | 485 | //MOTOR 2 LEFT SIDE BUTTON |
mjhaugsdal | 25:321b970eb3ff | 486 | void pb3_hit_callback (void) |
mjhaugsdal | 25:321b970eb3ff | 487 | { |
mjhaugsdal | 25:321b970eb3ff | 488 | if(rest == false) |
mjhaugsdal | 25:321b970eb3ff | 489 | { |
mjhaugsdal | 25:321b970eb3ff | 490 | e2 = false; |
mjhaugsdal | 25:321b970eb3ff | 491 | //m_cmd = 'x'; |
mjhaugsdal | 25:321b970eb3ff | 492 | speed = 2000; |
mjhaugsdal | 25:321b970eb3ff | 493 | Thread::wait(1000); |
mjhaugsdal | 25:321b970eb3ff | 494 | int stepsToCenter = 242; |
mjhaugsdal | 25:321b970eb3ff | 495 | |
mjhaugsdal | 25:321b970eb3ff | 496 | while (stepsToCenter >= 0) |
mjhaugsdal | 25:321b970eb3ff | 497 | { |
mjhaugsdal | 25:321b970eb3ff | 498 | stepEngine2Left(); |
mjhaugsdal | 25:321b970eb3ff | 499 | stepsToCenter --; |
mjhaugsdal | 25:321b970eb3ff | 500 | } |
mjhaugsdal | 25:321b970eb3ff | 501 | } |
mjhaugsdal | 23:ad08a8eabc24 | 502 | |
mjhaugsdal | 23:ad08a8eabc24 | 503 | } |
mjhaugsdal | 23:ad08a8eabc24 | 504 | |
mjhaugsdal | 25:321b970eb3ff | 505 | //MOTOR 2 RIGHT SIDE BUTTON |
mjhaugsdal | 25:321b970eb3ff | 506 | void pb4_hit_callback (void) |
mjhaugsdal | 25:321b970eb3ff | 507 | { |
mjhaugsdal | 25:321b970eb3ff | 508 | if(rest == false) |
mjhaugsdal | 25:321b970eb3ff | 509 | { |
mjhaugsdal | 25:321b970eb3ff | 510 | e2 = false; |
mjhaugsdal | 25:321b970eb3ff | 511 | //m_cmd = 'x'; |
mjhaugsdal | 25:321b970eb3ff | 512 | speed = 2000; |
mjhaugsdal | 25:321b970eb3ff | 513 | Thread::wait(1000); |
mjhaugsdal | 25:321b970eb3ff | 514 | int stepsToCenter = 242; |
mjhaugsdal | 25:321b970eb3ff | 515 | |
mjhaugsdal | 25:321b970eb3ff | 516 | while (stepsToCenter >= 0) |
mjhaugsdal | 25:321b970eb3ff | 517 | { |
mjhaugsdal | 25:321b970eb3ff | 518 | stepEngine2Right(); |
mjhaugsdal | 25:321b970eb3ff | 519 | stepsToCenter --; |
mjhaugsdal | 25:321b970eb3ff | 520 | } |
mjhaugsdal | 25:321b970eb3ff | 521 | } |
mjhaugsdal | 25:321b970eb3ff | 522 | |
mjhaugsdal | 25:321b970eb3ff | 523 | |
mjhaugsdal | 25:321b970eb3ff | 524 | } |
mjhaugsdal | 25:321b970eb3ff | 525 | |
mjhaugsdal | 25:321b970eb3ff | 526 | //MOTOR 3 LEFT SIDE BUTTON |
mjhaugsdal | 25:321b970eb3ff | 527 | void pb5_hit_callback (void) |
mjhaugsdal | 25:321b970eb3ff | 528 | { |
mjhaugsdal | 25:321b970eb3ff | 529 | if(rest == false) |
mjhaugsdal | 25:321b970eb3ff | 530 | { |
mjhaugsdal | 25:321b970eb3ff | 531 | e3 = false; |
mjhaugsdal | 25:321b970eb3ff | 532 | //m_cmd = 'x'; |
mjhaugsdal | 25:321b970eb3ff | 533 | speed = 2000; |
mjhaugsdal | 25:321b970eb3ff | 534 | Thread::wait(1000); |
mjhaugsdal | 25:321b970eb3ff | 535 | int stepsToCenter = 242; |
mjhaugsdal | 25:321b970eb3ff | 536 | |
mjhaugsdal | 25:321b970eb3ff | 537 | while (stepsToCenter >= 0) |
mjhaugsdal | 25:321b970eb3ff | 538 | { |
mjhaugsdal | 25:321b970eb3ff | 539 | stepEngine3Left(); |
mjhaugsdal | 25:321b970eb3ff | 540 | stepsToCenter --; |
mjhaugsdal | 25:321b970eb3ff | 541 | } |
mjhaugsdal | 25:321b970eb3ff | 542 | } |
mjhaugsdal | 25:321b970eb3ff | 543 | |
mjhaugsdal | 25:321b970eb3ff | 544 | |
mjhaugsdal | 25:321b970eb3ff | 545 | } |
mjhaugsdal | 25:321b970eb3ff | 546 | //MOTOR 3 RIGHT SIDE BUTTON |
mjhaugsdal | 25:321b970eb3ff | 547 | void pb6_hit_callback (void) |
mjhaugsdal | 25:321b970eb3ff | 548 | { |
mjhaugsdal | 25:321b970eb3ff | 549 | if(rest == false) |
mjhaugsdal | 25:321b970eb3ff | 550 | { |
mjhaugsdal | 25:321b970eb3ff | 551 | e3 = false; |
mjhaugsdal | 25:321b970eb3ff | 552 | //m_cmd = 'x'; |
mjhaugsdal | 25:321b970eb3ff | 553 | speed = 2000; |
mjhaugsdal | 25:321b970eb3ff | 554 | Thread::wait(1000); |
mjhaugsdal | 25:321b970eb3ff | 555 | int stepsToCenter = 242; |
mjhaugsdal | 25:321b970eb3ff | 556 | |
mjhaugsdal | 25:321b970eb3ff | 557 | while (stepsToCenter >= 0) |
mjhaugsdal | 25:321b970eb3ff | 558 | { |
mjhaugsdal | 25:321b970eb3ff | 559 | stepEngine3Right(); |
mjhaugsdal | 25:321b970eb3ff | 560 | stepsToCenter --; |
mjhaugsdal | 25:321b970eb3ff | 561 | } |
mjhaugsdal | 25:321b970eb3ff | 562 | } |
mjhaugsdal | 25:321b970eb3ff | 563 | } |
mjhaugsdal | 23:ad08a8eabc24 | 564 | |
rlanghbv | 0:bd78e433db61 | 565 | int main() |
rlanghbv | 0:bd78e433db61 | 566 | { |
mjhaugsdal | 24:24c91a6ae6ba | 567 | |
mjhaugsdal | 25:321b970eb3ff | 568 | pb1.mode(PullUp); |
mjhaugsdal | 25:321b970eb3ff | 569 | pb2.mode(PullUp); |
mjhaugsdal | 25:321b970eb3ff | 570 | pb3.mode(PullUp); |
mjhaugsdal | 25:321b970eb3ff | 571 | pb4.mode(PullUp); |
mjhaugsdal | 25:321b970eb3ff | 572 | pb5.mode(PullUp); |
mjhaugsdal | 25:321b970eb3ff | 573 | pb6.mode(PullUp); |
mjhaugsdal | 25:321b970eb3ff | 574 | |
mjhaugsdal | 25:321b970eb3ff | 575 | //Set up buttons 1 and 2 |
mjhaugsdal | 25:321b970eb3ff | 576 | pb1.attach_deasserted(&pb1_hit_callback); |
mjhaugsdal | 25:321b970eb3ff | 577 | pb1.setSampleFrequency(); |
mjhaugsdal | 25:321b970eb3ff | 578 | pb2.attach_deasserted(&pb2_hit_callback); |
mjhaugsdal | 25:321b970eb3ff | 579 | pb2.setSampleFrequency(); |
mjhaugsdal | 23:ad08a8eabc24 | 580 | |
mjhaugsdal | 1:a3287196a9b3 | 581 | //Thread 1 has constant feed from usb |
rlanghbv | 2:25bcc26f7a5b | 582 | Thread t1(input); |
mjhaugsdal | 22:f6e328f7bd28 | 583 | //static char global_direction; |
mjhaugsdal | 3:15be78948724 | 584 | printf("Started"); |
mjhaugsdal | 22:f6e328f7bd28 | 585 | |
mjhaugsdal | 24:24c91a6ae6ba | 586 | // Move motor in one direction |
mjhaugsdal | 24:24c91a6ae6ba | 587 | while (true) |
mjhaugsdal | 24:24c91a6ae6ba | 588 | { |
mjhaugsdal | 24:24c91a6ae6ba | 589 | speed = 2000; |
mjhaugsdal | 25:321b970eb3ff | 590 | |
mjhaugsdal | 25:321b970eb3ff | 591 | while(bootStep1 >= 0) |
mjhaugsdal | 25:321b970eb3ff | 592 | { |
mjhaugsdal | 25:321b970eb3ff | 593 | bootStep1--; |
mjhaugsdal | 25:321b970eb3ff | 594 | stepEngine1Right(); |
mjhaugsdal | 25:321b970eb3ff | 595 | } |
mjhaugsdal | 24:24c91a6ae6ba | 596 | stepEngine1Left(); |
mjhaugsdal | 26:57c62b925064 | 597 | //Found corner! |
mjhaugsdal | 24:24c91a6ae6ba | 598 | if (e1 == false) |
mjhaugsdal | 24:24c91a6ae6ba | 599 | { |
mjhaugsdal | 26:57c62b925064 | 600 | e1= true; |
mjhaugsdal | 26:57c62b925064 | 601 | Thread::wait(1000); |
mjhaugsdal | 26:57c62b925064 | 602 | while(true) |
mjhaugsdal | 26:57c62b925064 | 603 | { |
mjhaugsdal | 26:57c62b925064 | 604 | steps1++; |
mjhaugsdal | 26:57c62b925064 | 605 | //Thread::wait(100); |
mjhaugsdal | 26:57c62b925064 | 606 | pc.printf("%d", steps1); |
mjhaugsdal | 26:57c62b925064 | 607 | stepEngine1Right(); |
mjhaugsdal | 26:57c62b925064 | 608 | if(e1==false) |
mjhaugsdal | 26:57c62b925064 | 609 | break; |
mjhaugsdal | 26:57c62b925064 | 610 | } |
mjhaugsdal | 26:57c62b925064 | 611 | |
mjhaugsdal | 24:24c91a6ae6ba | 612 | Thread::wait(1000); |
mjhaugsdal | 25:321b970eb3ff | 613 | break; |
mjhaugsdal | 24:24c91a6ae6ba | 614 | }//end if |
mjhaugsdal | 25:321b970eb3ff | 615 | |
mjhaugsdal | 24:24c91a6ae6ba | 616 | }//end while |
mjhaugsdal | 25:321b970eb3ff | 617 | |
mjhaugsdal | 25:321b970eb3ff | 618 | //Set up buttons 3 and 4 |
mjhaugsdal | 25:321b970eb3ff | 619 | pb3.attach_deasserted(&pb3_hit_callback); |
mjhaugsdal | 25:321b970eb3ff | 620 | pb3.setSampleFrequency(); |
mjhaugsdal | 25:321b970eb3ff | 621 | pb4.attach_deasserted(&pb4_hit_callback); |
mjhaugsdal | 25:321b970eb3ff | 622 | pb4.setSampleFrequency(); |
mjhaugsdal | 25:321b970eb3ff | 623 | |
mjhaugsdal | 24:24c91a6ae6ba | 624 | while (true) |
mjhaugsdal | 24:24c91a6ae6ba | 625 | { |
mjhaugsdal | 25:321b970eb3ff | 626 | |
mjhaugsdal | 25:321b970eb3ff | 627 | speed = 2000; |
mjhaugsdal | 25:321b970eb3ff | 628 | while(bootStep2 >= 0) |
mjhaugsdal | 25:321b970eb3ff | 629 | { |
mjhaugsdal | 25:321b970eb3ff | 630 | bootStep2--; |
mjhaugsdal | 25:321b970eb3ff | 631 | stepEngine2Right(); |
mjhaugsdal | 25:321b970eb3ff | 632 | |
mjhaugsdal | 25:321b970eb3ff | 633 | } |
mjhaugsdal | 25:321b970eb3ff | 634 | |
mjhaugsdal | 25:321b970eb3ff | 635 | stepEngine2Left(); |
mjhaugsdal | 24:24c91a6ae6ba | 636 | if (e2 == false) |
mjhaugsdal | 24:24c91a6ae6ba | 637 | { |
mjhaugsdal | 25:321b970eb3ff | 638 | Thread::wait(1000); |
mjhaugsdal | 24:24c91a6ae6ba | 639 | break; |
mjhaugsdal | 24:24c91a6ae6ba | 640 | }//end if |
mjhaugsdal | 24:24c91a6ae6ba | 641 | } |
mjhaugsdal | 25:321b970eb3ff | 642 | |
mjhaugsdal | 25:321b970eb3ff | 643 | pb5.attach_deasserted(&pb5_hit_callback); |
mjhaugsdal | 25:321b970eb3ff | 644 | pb5.setSampleFrequency(); |
mjhaugsdal | 25:321b970eb3ff | 645 | pb6.attach_deasserted(&pb6_hit_callback); |
mjhaugsdal | 25:321b970eb3ff | 646 | pb6.setSampleFrequency(); |
mjhaugsdal | 24:24c91a6ae6ba | 647 | while (true) |
mjhaugsdal | 24:24c91a6ae6ba | 648 | { |
mjhaugsdal | 25:321b970eb3ff | 649 | speed = 2000; |
mjhaugsdal | 25:321b970eb3ff | 650 | while(bootStep3 >= 0) |
mjhaugsdal | 25:321b970eb3ff | 651 | { |
mjhaugsdal | 25:321b970eb3ff | 652 | bootStep3--; |
mjhaugsdal | 25:321b970eb3ff | 653 | stepEngine3Right(); |
mjhaugsdal | 25:321b970eb3ff | 654 | |
mjhaugsdal | 25:321b970eb3ff | 655 | } |
mjhaugsdal | 25:321b970eb3ff | 656 | stepEngine3Left(); |
mjhaugsdal | 24:24c91a6ae6ba | 657 | if (e3 == false) |
mjhaugsdal | 24:24c91a6ae6ba | 658 | { |
mjhaugsdal | 25:321b970eb3ff | 659 | pc.printf("HALLO"); |
mjhaugsdal | 24:24c91a6ae6ba | 660 | Thread::wait(1000); |
mjhaugsdal | 24:24c91a6ae6ba | 661 | break; |
mjhaugsdal | 24:24c91a6ae6ba | 662 | }//end if |
mjhaugsdal | 24:24c91a6ae6ba | 663 | } |
mjhaugsdal | 24:24c91a6ae6ba | 664 | |
mjhaugsdal | 1:a3287196a9b3 | 665 | while (true) |
mjhaugsdal | 22:f6e328f7bd28 | 666 | { |
mjhaugsdal | 24:24c91a6ae6ba | 667 | speed = 1500; |
mjhaugsdal | 24:24c91a6ae6ba | 668 | |
mjhaugsdal | 24:24c91a6ae6ba | 669 | |
mjhaugsdal | 21:9f3ae352ee63 | 670 | //Release all motors / Set all pins to 0 |
mjhaugsdal | 18:ef02a9014491 | 671 | if (m_cmd == 'z') |
mjhaugsdal | 18:ef02a9014491 | 672 | { |
mjhaugsdal | 18:ef02a9014491 | 673 | stopAll(); |
mjhaugsdal | 19:79600d3509d7 | 674 | } |
mjhaugsdal | 21:9f3ae352ee63 | 675 | //Make all engines halt and hold still. |
mjhaugsdal | 19:79600d3509d7 | 676 | if (m_cmd == 'x') |
mjhaugsdal | 19:79600d3509d7 | 677 | { |
mjhaugsdal | 18:ef02a9014491 | 678 | } |
mjhaugsdal | 25:321b970eb3ff | 679 | |
mjhaugsdal | 25:321b970eb3ff | 680 | //Rest mode. Make the engines ignore pushbuttons. |
mjhaugsdal | 25:321b970eb3ff | 681 | /* |
mjhaugsdal | 25:321b970eb3ff | 682 | if(m_cmd == 'r') |
mjhaugsdal | 25:321b970eb3ff | 683 | { |
mjhaugsdal | 25:321b970eb3ff | 684 | rest = true; |
mjhaugsdal | 25:321b970eb3ff | 685 | //Step motors to rest position |
mjhaugsdal | 25:321b970eb3ff | 686 | |
mjhaugsdal | 25:321b970eb3ff | 687 | |
mjhaugsdal | 25:321b970eb3ff | 688 | } |
mjhaugsdal | 25:321b970eb3ff | 689 | */ |
mjhaugsdal | 19:79600d3509d7 | 690 | |
mjhaugsdal | 21:9f3ae352ee63 | 691 | //Controlling each motor seperately. |
mjhaugsdal | 25:321b970eb3ff | 692 | //ENGINE 3 |
mjhaugsdal | 24:24c91a6ae6ba | 693 | if(m_cmd == '7' && steps3 > -242) |
mjhaugsdal | 19:79600d3509d7 | 694 | { |
mjhaugsdal | 25:321b970eb3ff | 695 | rest = false; |
mjhaugsdal | 22:f6e328f7bd28 | 696 | |
mjhaugsdal | 24:24c91a6ae6ba | 697 | steps3 --; |
mjhaugsdal | 24:24c91a6ae6ba | 698 | stepEngine3Left(); |
mjhaugsdal | 24:24c91a6ae6ba | 699 | } |
mjhaugsdal | 24:24c91a6ae6ba | 700 | else if (m_cmd == '9' && steps3 < 242) |
mjhaugsdal | 24:24c91a6ae6ba | 701 | { |
mjhaugsdal | 25:321b970eb3ff | 702 | rest = false; |
mjhaugsdal | 23:ad08a8eabc24 | 703 | stepEngine3Right(); |
mjhaugsdal | 24:24c91a6ae6ba | 704 | steps3 ++; |
mjhaugsdal | 19:79600d3509d7 | 705 | } |
mjhaugsdal | 19:79600d3509d7 | 706 | //ENGINE 2 |
mjhaugsdal | 24:24c91a6ae6ba | 707 | else if (m_cmd == '4' && steps2 > -242) |
mjhaugsdal | 19:79600d3509d7 | 708 | { |
mjhaugsdal | 25:321b970eb3ff | 709 | rest = false; |
mjhaugsdal | 24:24c91a6ae6ba | 710 | steps2 --; |
mjhaugsdal | 19:79600d3509d7 | 711 | stepEngine2Left(); |
mjhaugsdal | 19:79600d3509d7 | 712 | } |
mjhaugsdal | 24:24c91a6ae6ba | 713 | else if (m_cmd == '6' && steps2 < 242) |
mjhaugsdal | 19:79600d3509d7 | 714 | { |
mjhaugsdal | 25:321b970eb3ff | 715 | rest = false; |
mjhaugsdal | 24:24c91a6ae6ba | 716 | steps2 ++; |
mjhaugsdal | 19:79600d3509d7 | 717 | stepEngine2Right(); |
mjhaugsdal | 19:79600d3509d7 | 718 | } |
mjhaugsdal | 19:79600d3509d7 | 719 | //ENGINE 3 |
mjhaugsdal | 24:24c91a6ae6ba | 720 | else if (m_cmd == '1' && steps1 > -242) |
mjhaugsdal | 19:79600d3509d7 | 721 | { |
mjhaugsdal | 25:321b970eb3ff | 722 | rest = false; |
mjhaugsdal | 24:24c91a6ae6ba | 723 | steps1--; |
mjhaugsdal | 23:ad08a8eabc24 | 724 | stepEngine1Left(); |
mjhaugsdal | 19:79600d3509d7 | 725 | } |
mjhaugsdal | 24:24c91a6ae6ba | 726 | else if (m_cmd == '3' && steps1 < 242) |
mjhaugsdal | 19:79600d3509d7 | 727 | { |
mjhaugsdal | 25:321b970eb3ff | 728 | rest = false; |
mjhaugsdal | 24:24c91a6ae6ba | 729 | steps1++; |
mjhaugsdal | 23:ad08a8eabc24 | 730 | stepEngine1Right(); |
mjhaugsdal | 19:79600d3509d7 | 731 | } |
mjhaugsdal | 23:ad08a8eabc24 | 732 | |
mjhaugsdal | 25:321b970eb3ff | 733 | |
mjhaugsdal | 25:321b970eb3ff | 734 | |
mjhaugsdal | 23:ad08a8eabc24 | 735 | |
mjhaugsdal | 25:321b970eb3ff | 736 | //Thread::wait(10); |
mjhaugsdal | 25:321b970eb3ff | 737 | //pc.printf("%d", steps2); |
mjhaugsdal | 5:fdc7a779d525 | 738 | |
mjhaugsdal | 4:4d655fdae399 | 739 | |
mjhaugsdal | 24:24c91a6ae6ba | 740 | } //END WHILE TRUE |
mjhaugsdal | 1:a3287196a9b3 | 741 | |
mjhaugsdal | 3:15be78948724 | 742 | } //END Main |
mjhaugsdal | 25:321b970eb3ff | 743 | |
mjhaugsdal | 25:321b970eb3ff | 744 | |
mjhaugsdal | 25:321b970eb3ff | 745 | |
mjhaugsdal | 25:321b970eb3ff | 746 | |
mjhaugsdal | 25:321b970eb3ff | 747 | |
mjhaugsdal | 25:321b970eb3ff | 748 | |
mjhaugsdal | 25:321b970eb3ff | 749 | |
mjhaugsdal | 25:321b970eb3ff | 750 | |
mjhaugsdal | 25:321b970eb3ff | 751 | |
mjhaugsdal | 25:321b970eb3ff | 752 | |
mjhaugsdal | 25:321b970eb3ff | 753 | |
mjhaugsdal | 25:321b970eb3ff | 754 | |
mjhaugsdal | 25:321b970eb3ff | 755 |