File content as of revision 11:ef54754100ea:

#include "mbed.h"
#include "rtos.h"

Serial pc(USBTX, USBRX); // tx, rx

//Analog Pins
//First engine 1-4
DigitalOut IN1(A0);
DigitalOut IN2(A1);
DigitalOut IN3(A2);
DigitalOut IN4(A3);
//Second engine 5-8

DigitalOut IN5(D3);
DigitalOut IN6(D4);
DigitalOut IN7(D5);
DigitalOut IN8(D6);
/*
//Third engine 9-12
DigitalOut IN9(D8);
DigitalOut IN10(D9);
DigitalOut IN11(D10);
DigitalOut IN12(D11);  */


static int fart = 1000;
static char m_cmd = 'x';
/*
void step4Right3()
{

   //engine 2
    IN9=0;
    IN10=1;
    IN11=0;
    IN12=1;
    wait_us(fart);
    //engine 2
    IN9=0;
    IN10=1;
    IN11=1;
    IN12=0;
    wait_us(fart);
    //engine 2
    IN9=1;
    IN10=0;
    IN11=1;
    IN12=0;
    wait_us(fart);
    //engine 2
    IN9=1;
    IN10=0;
    IN11=0;
    IN12=1;
    wait_us(fart);
}
*/
void step4Right2()
{

   //engine 2
    IN5=0;
    IN6=1;
    IN7=0;
    IN8=1;
    wait_us(fart);
    //engine 2
    IN5=0;
    IN6=1;
    IN7=1;
    IN8=0;
    wait_us(fart);
    //engine 2
    IN5=1;
    IN6=0;
    IN7=1;
    IN8=0;
    wait_us(fart);
    //engine 2
    IN5=1;
    IN6=0;
    IN7=0;
    IN8=1;
    wait_us(fart);
}

void step4Right1()
{
    //engine 1
    IN1=0;
    IN2=1;
    IN3=0;
    IN4=1;
    wait_us(fart); //legg som global variabel "fart" 
    //engine 1
    IN1=0;
    IN2=1;
    IN3=1;
    IN4=0;
    wait_us(fart);
    //engine 1
    IN1=1;
    IN2=0;
    IN3=1;
    IN4=0;
    wait_us(fart);
    //engine 1
    IN1=1;
    IN2=0;
    IN3=0;
    IN4=1;
    wait_us(fart);
}

/*
void step4Left3()
{
    //engine 2
    IN9=1;
    IN10=0;
    IN11=0;
    IN12=1;
    wait_us(fart);

    
    //engine 2
    IN9=1;
    IN10=0;
    IN11=1;
    IN12=0;
    wait_us(fart);
    
    //engine 2
    IN9=0;
    IN10=1;
    IN11=1;
    IN12=0;
    wait_us(fart);
    
    //engine 2
    IN9=0;
    IN10=1;
    IN11=0;
    IN12=1;
    wait_us(fart);
    
}

*/
void step4Left2()
{
    //engine 2
    IN5=1;
    IN6=0;
    IN7=0;
    IN8=1;
    wait_us(fart);

    
    //engine 2
    IN5=1;
    IN6=0;
    IN7=1;
    IN8=0;
    wait_us(fart);
    
    //engine 2
    IN5=0;
    IN6=1;
    IN7=1;
    IN8=0;
    wait_us(fart);
    
    //engine 2
    IN5=0;
    IN6=1;
    IN7=0;
    IN8=1;
    wait_us(fart);
    
}

void step4Left1()
{
    //engine 1
    IN1=1;
    IN2=0;
    IN3=0;
    IN4=1;

    wait_us(fart);
    //engine 1
    IN1=1;
    IN2=0;
    IN3=1;
    IN4=0;

    wait_us(fart);
    //engine 1
    IN1=0;
    IN2=1;
    IN3=1;
    IN4=0;

    wait_us(fart);
    //engine 1
    IN1=0;
    IN2=1;
    IN3=0;
    IN4=1;

    wait_us(fart);
}

void motor2(void const *args)
{
    while(true)
    {
        if(m_cmd == 't')
        {
            step4Left2();
        }
    }
}

  
void input(void const *args)
{
    while(true)
    {

        if(pc.readable()) 
        { m_cmd=pc.getc(); 
        
         }
        
        Thread::wait(10);
        //pc.printf("%d", steps);
    }
}

int main()
{
        //Thread 1 has constant feed from usb
        Thread t1(input);
        Thread t2(motor2);
        static char global_direction;
        printf("Started");
        
        
        while (true) 
        {
            //Thread::wait(5);
            
            if (m_cmd == 't')
            
            {
                step4Left1();
            }
            
            //0 STEPS LEFT AT MAX SPEED
            if (m_cmd == '0')
            {
                fart = 1000;
                //global_direction = '0';
                step4Left1();
                //step4Left2();
                //step4Left3();
                //steps = steps + step;
                
                
                //printf("LEFT \n");
                //printf("%c \n" + global_direction); 
            } 
            //1 STEPS RIGHT AT MAX SPEED
            else if (m_cmd == '1')
            {
                fart = 1000;
                //global_direction = '1';
                step4Right1();
                //step4Right2(); 
               // step4Right3();
            } 
                else
            {
                //global_direction = 'x';
            }
            
            if (m_cmd == 'a')
            {
                fart =  2000;
                //global_direction = '1';
                step4Right1();
                //step4Right2(); 
                //step4Right3();
                //steps = steps + step;
               // printf("%i", &steps);
                
            }

            else if (m_cmd == 'c')
            {
                fart = 2000;
                //global_direction = '0';
                step4Left1();
                //step4Left2();
                //step4Left3();
                
                //steps = steps + step;
               // printf("%i", &steps);
            }
            else if (m_cmd == 'k')
            {
                int steps1 = 50;
                int steps2 = 50;
                
                
                //Steps = 242 gives a 60' rotation to the left. 
                while (steps1 >= 0)
                {
                    step4Left1();
                    //step4Left2();
                    //step4Left3();
                    steps1--;
                }
                while (steps2 >= 0)
                {
                    step4Left2();
            
                    steps2--;
                }
                m_cmd = 'x';
            }
            else if (m_cmd == 'l')
            {
                int steps = 242;
                //Steps = 242 gives a 60' rotation to the right. 
                while (steps >= 0)
                {
                    step4Right1();
                    //step4Right2(); 
                    //step4Right3();
                    steps--;
                }
                m_cmd = 'x';
                
            }
            



        }  
            
} //END Main