Main Code
Dependencies: PinDetect Ulrasonic mbed-rtos mbed WTV020SD_Sound_Breakout_Library
Fork of MC by
main.cpp@22:f6e328f7bd28, 2016-05-05 (annotated)
- Committer:
- mjhaugsdal
- Date:
- Thu May 05 09:24:43 2016 +0000
- Revision:
- 22:f6e328f7bd28
- Parent:
- 21:9f3ae352ee63
- Child:
- 23:ad08a8eabc24
Making a commit before testing a way to put wait in its own method
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" |
rlanghbv | 0:bd78e433db61 | 3 | |
rlanghbv | 2:25bcc26f7a5b | 4 | Serial pc(USBTX, USBRX); // tx, rx |
rlanghbv | 0:bd78e433db61 | 5 | |
mjhaugsdal | 1:a3287196a9b3 | 6 | //Analog Pins |
mjhaugsdal | 5:fdc7a779d525 | 7 | //First engine |
mjhaugsdal | 5:fdc7a779d525 | 8 | DigitalOut IN1(A0); |
mjhaugsdal | 5:fdc7a779d525 | 9 | DigitalOut IN2(A1); |
mjhaugsdal | 5:fdc7a779d525 | 10 | DigitalOut IN3(A2); |
mjhaugsdal | 5:fdc7a779d525 | 11 | DigitalOut IN4(A3); |
mjhaugsdal | 5:fdc7a779d525 | 12 | //Second engine |
mjhaugsdal | 6:ac5d277bd497 | 13 | DigitalOut IN5(D3); |
mjhaugsdal | 6:ac5d277bd497 | 14 | DigitalOut IN6(D4); |
mjhaugsdal | 6:ac5d277bd497 | 15 | DigitalOut IN7(D5); |
mjhaugsdal | 6:ac5d277bd497 | 16 | DigitalOut IN8(D6); |
mjhaugsdal | 16:a3555918c025 | 17 | //Third Engine |
mjhaugsdal | 16:a3555918c025 | 18 | DigitalOut IN9(D8); |
mjhaugsdal | 16:a3555918c025 | 19 | DigitalOut IN10(D9); |
mjhaugsdal | 16:a3555918c025 | 20 | DigitalOut IN11(D10); |
mjhaugsdal | 16:a3555918c025 | 21 | DigitalOut IN12(D11); |
mjhaugsdal | 5:fdc7a779d525 | 22 | |
rlanghbv | 0:bd78e433db61 | 23 | |
mjhaugsdal | 22:f6e328f7bd28 | 24 | static int fart = 1300; |
mjhaugsdal | 3:15be78948724 | 25 | static char m_cmd = 'x'; |
rlanghbv | 0:bd78e433db61 | 26 | |
rlanghbv | 0:bd78e433db61 | 27 | |
mjhaugsdal | 21:9f3ae352ee63 | 28 | //Methods to set pins to control direction. |
mjhaugsdal | 17:ff0021c4dcdc | 29 | void stepAllRight() |
rlanghbv | 0:bd78e433db61 | 30 | { |
mjhaugsdal | 6:ac5d277bd497 | 31 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 32 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 33 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 34 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 35 | IN4=1; |
mjhaugsdal | 6:ac5d277bd497 | 36 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 37 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 38 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 39 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 40 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 41 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 42 | IN9=0; |
mjhaugsdal | 17:ff0021c4dcdc | 43 | IN10=1; |
mjhaugsdal | 17:ff0021c4dcdc | 44 | IN11=0; |
mjhaugsdal | 17:ff0021c4dcdc | 45 | IN12=1; |
mjhaugsdal | 1:a3287196a9b3 | 46 | wait_us(fart); //legg som global variabel "fart" |
mjhaugsdal | 6:ac5d277bd497 | 47 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 48 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 49 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 50 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 51 | IN4=0; |
mjhaugsdal | 6:ac5d277bd497 | 52 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 53 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 54 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 55 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 56 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 57 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 58 | IN9=0; |
mjhaugsdal | 17:ff0021c4dcdc | 59 | IN10=1; |
mjhaugsdal | 17:ff0021c4dcdc | 60 | IN11=1; |
mjhaugsdal | 17:ff0021c4dcdc | 61 | IN12=0; |
mjhaugsdal | 1:a3287196a9b3 | 62 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 63 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 64 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 65 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 66 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 67 | IN4=0; |
mjhaugsdal | 6:ac5d277bd497 | 68 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 69 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 70 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 71 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 72 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 73 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 74 | IN9=1; |
mjhaugsdal | 17:ff0021c4dcdc | 75 | IN10=0; |
mjhaugsdal | 17:ff0021c4dcdc | 76 | IN11=1; |
mjhaugsdal | 17:ff0021c4dcdc | 77 | IN12=0; |
mjhaugsdal | 1:a3287196a9b3 | 78 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 79 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 80 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 81 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 82 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 83 | IN4=1; |
mjhaugsdal | 6:ac5d277bd497 | 84 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 85 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 86 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 87 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 88 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 89 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 90 | IN9=1; |
mjhaugsdal | 17:ff0021c4dcdc | 91 | IN10=0; |
mjhaugsdal | 17:ff0021c4dcdc | 92 | IN11=0; |
mjhaugsdal | 17:ff0021c4dcdc | 93 | IN12=1; |
mjhaugsdal | 1:a3287196a9b3 | 94 | wait_us(fart); |
rlanghbv | 0:bd78e433db61 | 95 | } |
mjhaugsdal | 17:ff0021c4dcdc | 96 | void stepAllLeft() |
rlanghbv | 0:bd78e433db61 | 97 | { |
mjhaugsdal | 6:ac5d277bd497 | 98 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 99 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 100 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 101 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 102 | IN4=1; |
mjhaugsdal | 6:ac5d277bd497 | 103 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 104 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 105 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 106 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 107 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 108 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 109 | IN9=1; |
mjhaugsdal | 17:ff0021c4dcdc | 110 | IN10=0; |
mjhaugsdal | 17:ff0021c4dcdc | 111 | IN11=0; |
mjhaugsdal | 17:ff0021c4dcdc | 112 | IN12=1; |
mjhaugsdal | 1:a3287196a9b3 | 113 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 114 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 115 | IN1=1; |
rlanghbv | 0:bd78e433db61 | 116 | IN2=0; |
rlanghbv | 0:bd78e433db61 | 117 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 118 | IN4=0; |
mjhaugsdal | 6:ac5d277bd497 | 119 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 120 | IN5=1; |
mjhaugsdal | 6:ac5d277bd497 | 121 | IN6=0; |
mjhaugsdal | 6:ac5d277bd497 | 122 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 123 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 124 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 125 | IN9=1; |
mjhaugsdal | 17:ff0021c4dcdc | 126 | IN10=0; |
mjhaugsdal | 17:ff0021c4dcdc | 127 | IN11=1; |
mjhaugsdal | 17:ff0021c4dcdc | 128 | IN12=0; |
mjhaugsdal | 1:a3287196a9b3 | 129 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 130 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 131 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 132 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 133 | IN3=1; |
rlanghbv | 0:bd78e433db61 | 134 | IN4=0; |
mjhaugsdal | 6:ac5d277bd497 | 135 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 136 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 137 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 138 | IN7=1; |
mjhaugsdal | 6:ac5d277bd497 | 139 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 140 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 141 | IN9=0; |
mjhaugsdal | 17:ff0021c4dcdc | 142 | IN10=1; |
mjhaugsdal | 17:ff0021c4dcdc | 143 | IN11=1; |
mjhaugsdal | 17:ff0021c4dcdc | 144 | IN12=0; |
mjhaugsdal | 1:a3287196a9b3 | 145 | wait_us(fart); |
mjhaugsdal | 6:ac5d277bd497 | 146 | //engine 1 |
rlanghbv | 0:bd78e433db61 | 147 | IN1=0; |
rlanghbv | 0:bd78e433db61 | 148 | IN2=1; |
rlanghbv | 0:bd78e433db61 | 149 | IN3=0; |
rlanghbv | 0:bd78e433db61 | 150 | IN4=1; |
mjhaugsdal | 6:ac5d277bd497 | 151 | //engine 2 |
mjhaugsdal | 6:ac5d277bd497 | 152 | IN5=0; |
mjhaugsdal | 6:ac5d277bd497 | 153 | IN6=1; |
mjhaugsdal | 6:ac5d277bd497 | 154 | IN7=0; |
mjhaugsdal | 6:ac5d277bd497 | 155 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 156 | //engine 3 |
mjhaugsdal | 17:ff0021c4dcdc | 157 | IN9=0; |
mjhaugsdal | 17:ff0021c4dcdc | 158 | IN10=1; |
mjhaugsdal | 17:ff0021c4dcdc | 159 | IN11=0; |
mjhaugsdal | 17:ff0021c4dcdc | 160 | IN12=1; |
mjhaugsdal | 17:ff0021c4dcdc | 161 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 162 | } |
mjhaugsdal | 17:ff0021c4dcdc | 163 | |
mjhaugsdal | 17:ff0021c4dcdc | 164 | void stepEngine1Left() |
mjhaugsdal | 17:ff0021c4dcdc | 165 | { |
mjhaugsdal | 17:ff0021c4dcdc | 166 | //engine 1 |
mjhaugsdal | 17:ff0021c4dcdc | 167 | IN1=1; |
mjhaugsdal | 17:ff0021c4dcdc | 168 | IN2=0; |
mjhaugsdal | 17:ff0021c4dcdc | 169 | IN3=0; |
mjhaugsdal | 17:ff0021c4dcdc | 170 | IN4=1; |
mjhaugsdal | 17:ff0021c4dcdc | 171 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 172 | IN1=1; |
mjhaugsdal | 17:ff0021c4dcdc | 173 | IN2=0; |
mjhaugsdal | 17:ff0021c4dcdc | 174 | IN3=1; |
mjhaugsdal | 17:ff0021c4dcdc | 175 | IN4=0; |
mjhaugsdal | 17:ff0021c4dcdc | 176 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 177 | IN1=0; |
mjhaugsdal | 17:ff0021c4dcdc | 178 | IN2=1; |
mjhaugsdal | 17:ff0021c4dcdc | 179 | IN3=1; |
mjhaugsdal | 17:ff0021c4dcdc | 180 | IN4=0; |
mjhaugsdal | 17:ff0021c4dcdc | 181 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 182 | IN1=0; |
mjhaugsdal | 17:ff0021c4dcdc | 183 | IN2=1; |
mjhaugsdal | 17:ff0021c4dcdc | 184 | IN3=0; |
mjhaugsdal | 17:ff0021c4dcdc | 185 | IN4=1; |
mjhaugsdal | 1:a3287196a9b3 | 186 | wait_us(fart); |
rlanghbv | 0:bd78e433db61 | 187 | } |
rlanghbv | 0:bd78e433db61 | 188 | |
mjhaugsdal | 17:ff0021c4dcdc | 189 | void stepEngine1Right() |
mjhaugsdal | 17:ff0021c4dcdc | 190 | { |
mjhaugsdal | 17:ff0021c4dcdc | 191 | //engine 1 |
mjhaugsdal | 17:ff0021c4dcdc | 192 | IN1=0; |
mjhaugsdal | 17:ff0021c4dcdc | 193 | IN2=1; |
mjhaugsdal | 17:ff0021c4dcdc | 194 | IN3=0; |
mjhaugsdal | 17:ff0021c4dcdc | 195 | IN4=1; |
mjhaugsdal | 17:ff0021c4dcdc | 196 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 197 | IN1=0; |
mjhaugsdal | 17:ff0021c4dcdc | 198 | IN2=1; |
mjhaugsdal | 17:ff0021c4dcdc | 199 | IN3=1; |
mjhaugsdal | 17:ff0021c4dcdc | 200 | IN4=0; |
mjhaugsdal | 17:ff0021c4dcdc | 201 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 202 | IN1=1; |
mjhaugsdal | 17:ff0021c4dcdc | 203 | IN2=0; |
mjhaugsdal | 17:ff0021c4dcdc | 204 | IN3=1; |
mjhaugsdal | 17:ff0021c4dcdc | 205 | IN4=0; |
mjhaugsdal | 17:ff0021c4dcdc | 206 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 207 | IN1=1; |
mjhaugsdal | 17:ff0021c4dcdc | 208 | IN2=0; |
mjhaugsdal | 17:ff0021c4dcdc | 209 | IN3=0; |
mjhaugsdal | 17:ff0021c4dcdc | 210 | IN4=1; |
mjhaugsdal | 17:ff0021c4dcdc | 211 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 212 | } |
mjhaugsdal | 17:ff0021c4dcdc | 213 | |
mjhaugsdal | 17:ff0021c4dcdc | 214 | void stepEngine2Right() |
mjhaugsdal | 17:ff0021c4dcdc | 215 | { |
mjhaugsdal | 17:ff0021c4dcdc | 216 | //engine 1 |
mjhaugsdal | 17:ff0021c4dcdc | 217 | IN5=0; |
mjhaugsdal | 17:ff0021c4dcdc | 218 | IN6=1; |
mjhaugsdal | 17:ff0021c4dcdc | 219 | IN7=0; |
mjhaugsdal | 17:ff0021c4dcdc | 220 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 221 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 222 | IN5=0; |
mjhaugsdal | 17:ff0021c4dcdc | 223 | IN6=1; |
mjhaugsdal | 17:ff0021c4dcdc | 224 | IN7=1; |
mjhaugsdal | 17:ff0021c4dcdc | 225 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 226 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 227 | IN5=1; |
mjhaugsdal | 17:ff0021c4dcdc | 228 | IN6=0; |
mjhaugsdal | 17:ff0021c4dcdc | 229 | IN7=1; |
mjhaugsdal | 17:ff0021c4dcdc | 230 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 231 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 232 | IN5=1; |
mjhaugsdal | 17:ff0021c4dcdc | 233 | IN6=0; |
mjhaugsdal | 17:ff0021c4dcdc | 234 | IN7=0; |
mjhaugsdal | 17:ff0021c4dcdc | 235 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 236 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 237 | } |
mjhaugsdal | 17:ff0021c4dcdc | 238 | |
mjhaugsdal | 17:ff0021c4dcdc | 239 | void stepEngine2Left() |
mjhaugsdal | 17:ff0021c4dcdc | 240 | { |
mjhaugsdal | 17:ff0021c4dcdc | 241 | //engine 1 |
mjhaugsdal | 17:ff0021c4dcdc | 242 | IN5=1; |
mjhaugsdal | 17:ff0021c4dcdc | 243 | IN6=0; |
mjhaugsdal | 17:ff0021c4dcdc | 244 | IN7=0; |
mjhaugsdal | 17:ff0021c4dcdc | 245 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 246 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 247 | IN5=1; |
mjhaugsdal | 17:ff0021c4dcdc | 248 | IN6=0; |
mjhaugsdal | 17:ff0021c4dcdc | 249 | IN7=1; |
mjhaugsdal | 17:ff0021c4dcdc | 250 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 251 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 252 | IN5=0; |
mjhaugsdal | 17:ff0021c4dcdc | 253 | IN6=1; |
mjhaugsdal | 17:ff0021c4dcdc | 254 | IN7=1; |
mjhaugsdal | 17:ff0021c4dcdc | 255 | IN8=0; |
mjhaugsdal | 17:ff0021c4dcdc | 256 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 257 | IN5=0; |
mjhaugsdal | 17:ff0021c4dcdc | 258 | IN6=1; |
mjhaugsdal | 17:ff0021c4dcdc | 259 | IN7=0; |
mjhaugsdal | 17:ff0021c4dcdc | 260 | IN8=1; |
mjhaugsdal | 17:ff0021c4dcdc | 261 | wait_us(fart); |
mjhaugsdal | 17:ff0021c4dcdc | 262 | } |
mjhaugsdal | 17:ff0021c4dcdc | 263 | |
mjhaugsdal | 19:79600d3509d7 | 264 | void stepEngine3Right() |
mjhaugsdal | 19:79600d3509d7 | 265 | { |
mjhaugsdal | 19:79600d3509d7 | 266 | //engine 1 |
mjhaugsdal | 19:79600d3509d7 | 267 | IN9=0; |
mjhaugsdal | 19:79600d3509d7 | 268 | IN10=1; |
mjhaugsdal | 19:79600d3509d7 | 269 | IN11=0; |
mjhaugsdal | 19:79600d3509d7 | 270 | IN12=1; |
mjhaugsdal | 19:79600d3509d7 | 271 | wait_us(fart); |
mjhaugsdal | 19:79600d3509d7 | 272 | IN9=0; |
mjhaugsdal | 19:79600d3509d7 | 273 | IN10=1; |
mjhaugsdal | 19:79600d3509d7 | 274 | IN11=1; |
mjhaugsdal | 19:79600d3509d7 | 275 | IN12=0; |
mjhaugsdal | 19:79600d3509d7 | 276 | wait_us(fart); |
mjhaugsdal | 19:79600d3509d7 | 277 | IN9=1; |
mjhaugsdal | 19:79600d3509d7 | 278 | IN10=0; |
mjhaugsdal | 19:79600d3509d7 | 279 | IN11=1; |
mjhaugsdal | 19:79600d3509d7 | 280 | IN12=0; |
mjhaugsdal | 19:79600d3509d7 | 281 | wait_us(fart); |
mjhaugsdal | 19:79600d3509d7 | 282 | IN9=1; |
mjhaugsdal | 19:79600d3509d7 | 283 | IN10=0; |
mjhaugsdal | 19:79600d3509d7 | 284 | IN11=0; |
mjhaugsdal | 19:79600d3509d7 | 285 | IN12=1; |
mjhaugsdal | 19:79600d3509d7 | 286 | wait_us(fart); |
mjhaugsdal | 19:79600d3509d7 | 287 | } |
mjhaugsdal | 19:79600d3509d7 | 288 | |
mjhaugsdal | 19:79600d3509d7 | 289 | void stepEngine3Left() |
mjhaugsdal | 19:79600d3509d7 | 290 | { |
mjhaugsdal | 19:79600d3509d7 | 291 | //engine 1 |
mjhaugsdal | 19:79600d3509d7 | 292 | IN9=1; |
mjhaugsdal | 19:79600d3509d7 | 293 | IN10=0; |
mjhaugsdal | 19:79600d3509d7 | 294 | IN11=0; |
mjhaugsdal | 19:79600d3509d7 | 295 | IN12=1; |
mjhaugsdal | 19:79600d3509d7 | 296 | wait_us(fart); |
mjhaugsdal | 19:79600d3509d7 | 297 | IN9=1; |
mjhaugsdal | 19:79600d3509d7 | 298 | IN10=0; |
mjhaugsdal | 19:79600d3509d7 | 299 | IN11=1; |
mjhaugsdal | 19:79600d3509d7 | 300 | IN12=0; |
mjhaugsdal | 19:79600d3509d7 | 301 | wait_us(fart); |
mjhaugsdal | 19:79600d3509d7 | 302 | IN9=0; |
mjhaugsdal | 19:79600d3509d7 | 303 | IN10=1; |
mjhaugsdal | 19:79600d3509d7 | 304 | IN11=1; |
mjhaugsdal | 19:79600d3509d7 | 305 | IN12=0; |
mjhaugsdal | 19:79600d3509d7 | 306 | wait_us(fart); |
mjhaugsdal | 19:79600d3509d7 | 307 | IN9=0; |
mjhaugsdal | 19:79600d3509d7 | 308 | IN10=1; |
mjhaugsdal | 19:79600d3509d7 | 309 | IN11=0; |
mjhaugsdal | 19:79600d3509d7 | 310 | IN12=1; |
mjhaugsdal | 19:79600d3509d7 | 311 | wait_us(fart); |
mjhaugsdal | 19:79600d3509d7 | 312 | } |
mjhaugsdal | 19:79600d3509d7 | 313 | |
mjhaugsdal | 21:9f3ae352ee63 | 314 | //Method to release all engines. |
mjhaugsdal | 18:ef02a9014491 | 315 | void stopAll() |
mjhaugsdal | 18:ef02a9014491 | 316 | { |
mjhaugsdal | 18:ef02a9014491 | 317 | IN1=0; |
mjhaugsdal | 18:ef02a9014491 | 318 | IN2=0; |
mjhaugsdal | 18:ef02a9014491 | 319 | IN3=0; |
mjhaugsdal | 18:ef02a9014491 | 320 | IN4=0; |
mjhaugsdal | 18:ef02a9014491 | 321 | IN5=0; |
mjhaugsdal | 18:ef02a9014491 | 322 | IN6=0; |
mjhaugsdal | 18:ef02a9014491 | 323 | IN7=0; |
mjhaugsdal | 18:ef02a9014491 | 324 | IN8=0; |
mjhaugsdal | 18:ef02a9014491 | 325 | IN9=0; |
mjhaugsdal | 18:ef02a9014491 | 326 | IN10=0; |
mjhaugsdal | 18:ef02a9014491 | 327 | IN11=0; |
mjhaugsdal | 18:ef02a9014491 | 328 | IN12=0; |
mjhaugsdal | 18:ef02a9014491 | 329 | } |
mjhaugsdal | 18:ef02a9014491 | 330 | |
mjhaugsdal | 21:9f3ae352ee63 | 331 | //Methods to release single engines. |
mjhaugsdal | 20:d90bd1718078 | 332 | void stopE1() |
mjhaugsdal | 20:d90bd1718078 | 333 | { |
mjhaugsdal | 20:d90bd1718078 | 334 | IN1=0; |
mjhaugsdal | 20:d90bd1718078 | 335 | IN2=0; |
mjhaugsdal | 20:d90bd1718078 | 336 | IN3=0; |
mjhaugsdal | 20:d90bd1718078 | 337 | IN4=0; |
mjhaugsdal | 20:d90bd1718078 | 338 | |
mjhaugsdal | 20:d90bd1718078 | 339 | } |
mjhaugsdal | 20:d90bd1718078 | 340 | void stopE2() |
mjhaugsdal | 20:d90bd1718078 | 341 | { |
mjhaugsdal | 20:d90bd1718078 | 342 | IN5=0; |
mjhaugsdal | 20:d90bd1718078 | 343 | IN6=0; |
mjhaugsdal | 20:d90bd1718078 | 344 | IN7=0; |
mjhaugsdal | 20:d90bd1718078 | 345 | IN8=0; |
mjhaugsdal | 20:d90bd1718078 | 346 | |
mjhaugsdal | 20:d90bd1718078 | 347 | } |
mjhaugsdal | 20:d90bd1718078 | 348 | void stopE3() |
mjhaugsdal | 20:d90bd1718078 | 349 | { |
mjhaugsdal | 20:d90bd1718078 | 350 | IN9=0; |
mjhaugsdal | 20:d90bd1718078 | 351 | IN10=0; |
mjhaugsdal | 20:d90bd1718078 | 352 | IN11=0; |
mjhaugsdal | 20:d90bd1718078 | 353 | IN12=0; |
mjhaugsdal | 20:d90bd1718078 | 354 | |
mjhaugsdal | 20:d90bd1718078 | 355 | } |
mjhaugsdal | 20:d90bd1718078 | 356 | |
mjhaugsdal | 17:ff0021c4dcdc | 357 | |
mjhaugsdal | 17:ff0021c4dcdc | 358 | |
mjhaugsdal | 19:79600d3509d7 | 359 | |
mjhaugsdal | 19:79600d3509d7 | 360 | |
mjhaugsdal | 1:a3287196a9b3 | 361 | void input(void const *args) |
mjhaugsdal | 1:a3287196a9b3 | 362 | { |
mjhaugsdal | 1:a3287196a9b3 | 363 | while(true) |
mjhaugsdal | 1:a3287196a9b3 | 364 | { |
mjhaugsdal | 3:15be78948724 | 365 | |
rlanghbv | 2:25bcc26f7a5b | 366 | if(pc.readable()) |
mjhaugsdal | 3:15be78948724 | 367 | { m_cmd=pc.getc(); |
mjhaugsdal | 3:15be78948724 | 368 | |
mjhaugsdal | 17:ff0021c4dcdc | 369 | } |
mjhaugsdal | 17:ff0021c4dcdc | 370 | |
mjhaugsdal | 22:f6e328f7bd28 | 371 | Thread::wait(20); |
mjhaugsdal | 5:fdc7a779d525 | 372 | //pc.printf("%d", steps); |
mjhaugsdal | 1:a3287196a9b3 | 373 | } |
mjhaugsdal | 1:a3287196a9b3 | 374 | } |
rlanghbv | 0:bd78e433db61 | 375 | |
rlanghbv | 0:bd78e433db61 | 376 | int main() |
rlanghbv | 0:bd78e433db61 | 377 | { |
mjhaugsdal | 1:a3287196a9b3 | 378 | //Thread 1 has constant feed from usb |
rlanghbv | 2:25bcc26f7a5b | 379 | Thread t1(input); |
mjhaugsdal | 22:f6e328f7bd28 | 380 | //static char global_direction; |
mjhaugsdal | 3:15be78948724 | 381 | printf("Started"); |
mjhaugsdal | 3:15be78948724 | 382 | |
mjhaugsdal | 22:f6e328f7bd28 | 383 | /* |
mjhaugsdal | 22:f6e328f7bd28 | 384 | |
mjhaugsdal | 22:f6e328f7bd28 | 385 | BOOT UP AND SYNCHRONIZE |
mjhaugsdal | 22:f6e328f7bd28 | 386 | |
mjhaugsdal | 22:f6e328f7bd28 | 387 | */ |
mjhaugsdal | 22:f6e328f7bd28 | 388 | |
mjhaugsdal | 22:f6e328f7bd28 | 389 | |
mjhaugsdal | 5:fdc7a779d525 | 390 | |
mjhaugsdal | 1:a3287196a9b3 | 391 | while (true) |
mjhaugsdal | 22:f6e328f7bd28 | 392 | { |
mjhaugsdal | 22:f6e328f7bd28 | 393 | if(m_cmd == 'a') |
mjhaugsdal | 22:f6e328f7bd28 | 394 | { |
mjhaugsdal | 22:f6e328f7bd28 | 395 | stepAllRight(); |
mjhaugsdal | 22:f6e328f7bd28 | 396 | } |
mjhaugsdal | 22:f6e328f7bd28 | 397 | |
mjhaugsdal | 22:f6e328f7bd28 | 398 | else if (m_cmd == 'b') |
mjhaugsdal | 22:f6e328f7bd28 | 399 | { |
mjhaugsdal | 22:f6e328f7bd28 | 400 | stepAllLeft(); |
mjhaugsdal | 22:f6e328f7bd28 | 401 | |
mjhaugsdal | 22:f6e328f7bd28 | 402 | } |
mjhaugsdal | 3:15be78948724 | 403 | |
mjhaugsdal | 19:79600d3509d7 | 404 | /* |
mjhaugsdal | 5:fdc7a779d525 | 405 | else if (m_cmd == 'k') |
mjhaugsdal | 1:a3287196a9b3 | 406 | { |
mjhaugsdal | 6:ac5d277bd497 | 407 | int steps = 242; |
mjhaugsdal | 5:fdc7a779d525 | 408 | |
mjhaugsdal | 5:fdc7a779d525 | 409 | |
mjhaugsdal | 6:ac5d277bd497 | 410 | //Steps = 242 gives a 60' rotation to the left. |
mjhaugsdal | 5:fdc7a779d525 | 411 | while (steps >= 0) |
mjhaugsdal | 5:fdc7a779d525 | 412 | { |
mjhaugsdal | 17:ff0021c4dcdc | 413 | stepAllLeft(); |
mjhaugsdal | 5:fdc7a779d525 | 414 | steps--; |
mjhaugsdal | 5:fdc7a779d525 | 415 | } |
mjhaugsdal | 5:fdc7a779d525 | 416 | m_cmd = 'x'; |
mjhaugsdal | 3:15be78948724 | 417 | } |
mjhaugsdal | 5:fdc7a779d525 | 418 | else if (m_cmd == 'l') |
mjhaugsdal | 5:fdc7a779d525 | 419 | { |
mjhaugsdal | 6:ac5d277bd497 | 420 | int steps = 242; |
mjhaugsdal | 6:ac5d277bd497 | 421 | //Steps = 242 gives a 60' rotation to the right. |
mjhaugsdal | 5:fdc7a779d525 | 422 | while (steps >= 0) |
mjhaugsdal | 5:fdc7a779d525 | 423 | { |
mjhaugsdal | 17:ff0021c4dcdc | 424 | stepAllRight(); |
mjhaugsdal | 5:fdc7a779d525 | 425 | steps--; |
mjhaugsdal | 5:fdc7a779d525 | 426 | } |
mjhaugsdal | 5:fdc7a779d525 | 427 | m_cmd = 'x'; |
mjhaugsdal | 5:fdc7a779d525 | 428 | |
mjhaugsdal | 19:79600d3509d7 | 429 | }*/ |
mjhaugsdal | 21:9f3ae352ee63 | 430 | |
mjhaugsdal | 21:9f3ae352ee63 | 431 | //Release all motors / Set all pins to 0 |
mjhaugsdal | 18:ef02a9014491 | 432 | if (m_cmd == 'z') |
mjhaugsdal | 18:ef02a9014491 | 433 | { |
mjhaugsdal | 18:ef02a9014491 | 434 | stopAll(); |
mjhaugsdal | 19:79600d3509d7 | 435 | } |
mjhaugsdal | 21:9f3ae352ee63 | 436 | //Make all engines halt and hold still. |
mjhaugsdal | 19:79600d3509d7 | 437 | if (m_cmd == 'x') |
mjhaugsdal | 19:79600d3509d7 | 438 | { |
mjhaugsdal | 18:ef02a9014491 | 439 | } |
mjhaugsdal | 19:79600d3509d7 | 440 | |
mjhaugsdal | 21:9f3ae352ee63 | 441 | //Controlling each motor seperately. |
mjhaugsdal | 19:79600d3509d7 | 442 | //ENGINE 1 |
mjhaugsdal | 19:79600d3509d7 | 443 | if(m_cmd == '7') |
mjhaugsdal | 19:79600d3509d7 | 444 | { |
mjhaugsdal | 22:f6e328f7bd28 | 445 | |
mjhaugsdal | 20:d90bd1718078 | 446 | stopE1(); |
mjhaugsdal | 19:79600d3509d7 | 447 | stepEngine1Left(); |
mjhaugsdal | 19:79600d3509d7 | 448 | } |
mjhaugsdal | 19:79600d3509d7 | 449 | else if (m_cmd == '9') |
mjhaugsdal | 19:79600d3509d7 | 450 | { |
mjhaugsdal | 22:f6e328f7bd28 | 451 | |
mjhaugsdal | 20:d90bd1718078 | 452 | stopE1(); |
mjhaugsdal | 19:79600d3509d7 | 453 | stepEngine1Right(); |
mjhaugsdal | 19:79600d3509d7 | 454 | } |
mjhaugsdal | 19:79600d3509d7 | 455 | //ENGINE 2 |
mjhaugsdal | 19:79600d3509d7 | 456 | else if (m_cmd == '4') |
mjhaugsdal | 19:79600d3509d7 | 457 | { |
mjhaugsdal | 22:f6e328f7bd28 | 458 | |
mjhaugsdal | 20:d90bd1718078 | 459 | stopE2(); |
mjhaugsdal | 19:79600d3509d7 | 460 | stepEngine2Left(); |
mjhaugsdal | 19:79600d3509d7 | 461 | } |
mjhaugsdal | 19:79600d3509d7 | 462 | else if (m_cmd == '6') |
mjhaugsdal | 19:79600d3509d7 | 463 | { |
mjhaugsdal | 22:f6e328f7bd28 | 464 | |
mjhaugsdal | 20:d90bd1718078 | 465 | stopE2(); |
mjhaugsdal | 19:79600d3509d7 | 466 | stepEngine2Right(); |
mjhaugsdal | 19:79600d3509d7 | 467 | } |
mjhaugsdal | 19:79600d3509d7 | 468 | //ENGINE 3 |
mjhaugsdal | 19:79600d3509d7 | 469 | else if (m_cmd == '1') |
mjhaugsdal | 19:79600d3509d7 | 470 | { |
mjhaugsdal | 22:f6e328f7bd28 | 471 | |
mjhaugsdal | 20:d90bd1718078 | 472 | stopE3(); |
mjhaugsdal | 19:79600d3509d7 | 473 | stepEngine3Left(); |
mjhaugsdal | 19:79600d3509d7 | 474 | } |
mjhaugsdal | 19:79600d3509d7 | 475 | else if (m_cmd == '3') |
mjhaugsdal | 19:79600d3509d7 | 476 | { |
mjhaugsdal | 22:f6e328f7bd28 | 477 | |
mjhaugsdal | 20:d90bd1718078 | 478 | stopE3(); |
mjhaugsdal | 19:79600d3509d7 | 479 | stepEngine3Right(); |
mjhaugsdal | 19:79600d3509d7 | 480 | } |
mjhaugsdal | 5:fdc7a779d525 | 481 | |
mjhaugsdal | 5:fdc7a779d525 | 482 | |
mjhaugsdal | 4:4d655fdae399 | 483 | |
mjhaugsdal | 1:a3287196a9b3 | 484 | } |
mjhaugsdal | 1:a3287196a9b3 | 485 | |
mjhaugsdal | 3:15be78948724 | 486 | } //END Main |