Diff: backup0.txt

Revision:

2:72952132894a

diff -r 77096ac47e7a -r 72952132894a backup0.txt
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/backup0.txt	Sat Feb 20 09:04:41 2021 +0000
@@ -0,0 +1,187 @@
+#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(D11); // relais fin de course
+//
+PwmOut l1_dc_motor_en(D3);
+DigitalOut l1_dc_motor_cw(D2);
+DigitalOut l1_dc_motor_ccw(D4);
+//PwmOut l1_servo_en(D5);
+DigitalOut l1_servo_cw(D7);
+DigitalOut l1_servo_ccw(D8);
+
+PwmOut l2_dc_motor_en(D6);
+DigitalOut l2_dc_motor_cw(D12);
+DigitalOut l2_dc_motor_ccw(D13);
+//PwmOut l2_servo_en(D9);
+DigitalOut l2_servo_cw(D14);
+DigitalOut l2_servo_ccw(D15);
+
+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(50000);
+    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(50000);
+    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;
+}
+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 stop_servo(void){
+    l1_servo_cw=0;
+    l1_servo_ccw=0;
+    l2_servo_cw=0;
+    l2_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()
+{
+    printf("Hello World !\n");
+    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 == '8')
+        {
+            cmd = 0;
+            run_l2_servo_cw();
+            wait(1);
+            stop_servo();
+            
+//            l2_servo_cw=0;
+//            l2_servo_ccw=0;
+            printf("run_l2_servo_cw\r\n");
+        }
+
+        if(cmd == '9')
+        {
+            cmd = 0;
+            run_l2_servo_ccw();
+            wait(1);
+            stop_servo();
+//            l2_servo_cw=0;
+//            l2_servo_ccw=0;
+            
+            printf("run_l2_servo_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");
+        }
+    }
+}