Diff: auto_working_code.txt

Revision:

2:72952132894a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/auto_working_code.txt	Sat Feb 20 09:04:41 2021 +0000
@@ -0,0 +1,134 @@
+#include "mbed.h"
+#include "stdio.h"
+
+//DigitalOut led(LED1);
+
+Serial pc(USBTX, USBRX);
+DigitalIn my_button(USER_BUTTON); // Use the user button to switch from dc motor to servo motor and vice versa
+DigitalIn end_stop(A5); // relais fin de course
+
+PwmOut l1_dc_motor_cw(D2);
+PwmOut l1_dc_motor_ccw(D3);
+DigitalOut l1_servo_cw(D4);
+DigitalOut l1_servo_ccw(D5);
+PwmOut l2_dc_motor_cw(D6);
+PwmOut l2_dc_motor_ccw(D7);
+DigitalOut l2_servo_cw(D8);
+DigitalOut l2_servo_ccw(D9);
+PwmOut l3_dc_motor_cw(D10);
+PwmOut l3_dc_motor_ccw(D11);
+DigitalOut l3_servo_cw(D12);
+DigitalOut l3_servo_ccw(D13);
+
+void run_l1_dc_motor_cw(void){
+    l1_dc_motor_cw.period_ms(20);
+    l1_dc_motor_cw.pulsewidth_us(4000);
+}
+void run_l1_dc_motor_ccw(void){
+    l1_dc_motor_ccw.period_ms(20);    // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
+    l1_dc_motor_ccw.pulsewidth_us(5000);
+}
+void run_l2_dc_motor_cw(void){
+    l2_dc_motor_cw.period_ms(20);
+    l2_dc_motor_cw.pulsewidth_us(20000);
+}
+void run_l2_dc_motor_ccw(void){
+    l2_dc_motor_ccw.period_ms(20);    // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
+    l2_dc_motor_ccw.pulsewidth_us(20000);
+}
+void run_l3_dc_motor_cw(void){
+//    l3_dc_motor_cw.period_ms(20);
+//    l3_dc_motor_cw.pulsewidth_us(10000);
+}
+void run_l3_dc_motor_ccw(void){
+    l3_dc_motor_ccw.period_ms(20);    // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
+    l3_dc_motor_ccw.pulsewidth_us(10000);
+}
+void stop_dc_motor(void){
+    l1_dc_motor_cw.pulsewidth_us(0);
+    l1_dc_motor_ccw.pulsewidth_us(0);
+    l2_dc_motor_cw.pulsewidth_us(0);
+    l2_dc_motor_ccw.pulsewidth_us(0);
+    l3_dc_motor_cw.pulsewidth_us(0);
+    l3_dc_motor_ccw.pulsewidth_us(0);
+}
+void run_l1_servo_cw(void){
+    l1_servo_cw=1;
+    l1_servo_ccw=0;
+}
+void run_l1_servo_ccw(void){
+    l1_servo_cw=0;
+    l1_servo_ccw=1;
+}
+void run_l2_servo_cw(void){
+//    l2_servo_cw=1;
+//  l2_servo_ccw=0;
+}
+void run_l2_servo_ccw(void){
+    l2_servo_cw=0;
+    l2_servo_ccw=1;
+}
+void run_l3_servo_cw(void){
+    l3_servo_cw=1;
+    l3_servo_ccw=0;
+}
+void run_l3_servo_ccw(void){
+    l3_servo_cw=0;
+    l3_servo_ccw=1;
+}
+void stop_servo(void){
+    l1_servo_cw=0;
+    l1_servo_ccw=0;
+    l2_servo_cw=0;
+    l2_servo_ccw=0;
+    l3_servo_cw=0;
+    l3_servo_ccw=0;
+}
+void test_limite(void){
+    end_stop.mode(PullDown);
+    while(1){
+        printf("lim=%d\n", end_stop.read());
+
+        if(end_stop.read()==1){
+            stop_dc_motor();
+//            led=0;
+            printf("stop_dc_motor\n");
+        }
+        else{
+            run_l2_dc_motor_ccw();
+            printf("motor runs\n");
+//            led=1;
+        }
+    }
+    
+}
+int main()
+{
+    printf("Hello World !\n");
+    run_l1_dc_motor_cw();
+    wait_ms(2500);
+    stop_dc_motor();
+    run_l1_servo_cw();
+    wait_ms(2000);
+    stop_servo();
+    run_l2_dc_motor_ccw();
+    wait_ms(1500);
+    stop_dc_motor();
+    run_l2_servo_ccw();
+    wait_ms(1000);
+    stop_servo();
+    run_l2_dc_motor_cw();
+    wait_ms(1500);
+    stop_dc_motor();
+    run_l1_dc_motor_cw();
+    wait_ms(2500);
+    stop_dc_motor();
+    run_l1_servo_ccw();
+    wait_ms(2000);
+    stop_servo();
+    run_l3_dc_motor_ccw();
+    wait_ms(3000);
+    stop_dc_motor();
+    
+    
+}