File content as of revision 1:77096ac47e7a:

#include "mbed.h"
#include "stdio.h"

DigitalOut gpo(D10);
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(D2); // relais fin de course

PwmOut l1_dc_motor_en(D0);
DigitalOut l1_dc_motor_cw(D1);
DigitalOut l1_dc_motor_ccw(D2);

PwmOut l1_servo_en(D5);
DigitalOut l1_servo_cw(D3);
DigitalOut l1_servo_ccw(D4);


PwmOut l2_dc_motor_en(D6);
DigitalOut l2_dc_motor_cw(D7);
DigitalOut l2_dc_motor_ccw(D8);

PwmOut l2_servo_en(D11);
DigitalOut l2_servo_cw(D9);
DigitalOut l2_servo_ccw(D10);


void run_l1_dc_motor_cw(void){
    l1_dc_motor_en.period_ms(20);    // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
    l1_dc_motor_en.pulsewidth_us(3000);
    l1_dc_motor_cw=0;
    l1_dc_motor_ccw=1;
}
void run_l1_dc_motor_ccw(void){
    l1_dc_motor_en.period_ms(20);    // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
    l1_dc_motor_en.pulsewidth_us(3000);
    l1_dc_motor_cw=1;
    l1_dc_motor_ccw=0;
}
void run_l2_dc_motor_cw(void){
    l2_dc_motor_en.period_ms(20);    // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
    l2_dc_motor_en.pulsewidth_us(3000);
    l2_dc_motor_cw=0;
    l2_dc_motor_ccw=1;
}
void run_l2_dc_motor_ccw(void){
    l2_dc_motor_en.period_ms(20);    // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
    l2_dc_motor_en.pulsewidth_us(3000);
    l2_dc_motor_cw=1;
    l2_dc_motor_ccw=0;
}


void stop_dc_motor(void){
    l1_dc_motor_cw=0;
    l1_dc_motor_ccw=0; 
    l2_dc_motor_cw=0;
    l2_dc_motor_ccw=0;

}

void run_l1_servo_cw(void){
    l1_servo_cw=1;
    l1_servo_ccw=0;
    l1_servo_en.period_us(870);
    l1_servo_en.pulsewidth_ms(870);  
}
void run_l1_servo_ccw(void){
    l1_servo_cw=0;
    l1_servo_ccw=1;
    l1_servo_en.period_us(870);
    l1_servo_en.pulsewidth_ms(870);  
}
void stop_servo(void){
    l1_servo_cw=0;
    l1_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_l1_dc_motor_ccw();
            printf("motor runs\n");
            led=1;
        }
    }
    
}


int main()
{
    unsigned char cmd=0;
           
    while (true) {
        scanf("%c", &cmd);
        if(cmd == '1')
        {
            cmd = 0;
            stop_dc_motor();
            printf("stop_dc_motor\r\n");
        }
        if(cmd == '2')
        {
            cmd = 0;
            run_l1_dc_motor_cw();    
            printf("run_l1_dc_motor_cw\r\n");
        }
        if(cmd == '3')
        {
            cmd = 0;
            run_l1_dc_motor_ccw();
            printf("run_l1_dc_motor_ccw\r\n");
        }
        if(cmd == '4')
        {
            cmd = 0; 
            run_l1_servo_cw();
            wait(1);
            stop_servo();
            printf("run_l1_servo_cw\r\n");
        }     
        if(cmd == '5')
        {
            cmd = 0; 
            run_l1_servo_ccw();
            wait(1);
            stop_servo();
            printf("run_l1_servo_ccw\r\n");
        }     
        if(cmd == '6')
        {
            cmd = 0;
            run_l2_dc_motor_cw();    
            printf("run_l2_dc_motor_cw\r\n");
        }
        if(cmd == '7')
        {
            cmd = 0;
            run_l2_dc_motor_ccw();
            printf("run_l2_dc_motor_ccw\r\n");
        }



        if(cmd == 'h')
        {
            cmd=0;
            printf("1=stop_dc_motor; 2=run_l1_dc_motor_cw; 3=run_l1_dc_motor_ccw; 4=run_l1_servo_cw; 5=run_l1_servo_ccw, 6=run_l1_dc_motor_cw; 7=run_l1_dc_motor_ccw\n");
        }
    }
   
}