Diff: main_V0.txt

Revision:

2:72952132894a

diff -r 77096ac47e7a -r 72952132894a main_V0.txt
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main_V0.txt	Sat Feb 20 09:04:41 2021 +0000
@@ -0,0 +1,266 @@
+#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);
+int l1_dc_speed=2500;
+
+void run_l1_dc_motor_cw(void){
+    l1_dc_motor_cw.period_ms(20);
+    l1_dc_motor_cw.pulsewidth_us(l1_dc_speed);//1800
+}
+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(l1_dc_speed);
+}
+void run_l2_dc_motor_cw(void){
+    l2_dc_motor_cw.period_ms(20);
+    l2_dc_motor_cw.pulsewidth_us(5000);
+}
+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(5000);
+}
+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(5000);
+}
+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;
+        }
+    }
+    
+}
+void auto_run(void){
+    int l1_wait = 1300;
+    int l2_wait = 1250;
+    int l3_wait = 2500;
+
+    printf("Hello World !\n");
+    run_l1_dc_motor_cw();
+    wait_ms(l1_wait);
+    stop_dc_motor();
+    run_l1_dc_motor_ccw();  
+    wait_ms(l1_wait);
+    stop_dc_motor();   
+    wait_ms(1000);  
+    run_l1_servo_cw();
+    wait_ms(1000);
+    stop_servo();
+    run_l2_dc_motor_ccw();
+    wait_ms(l2_wait);
+    stop_dc_motor();
+    wait_ms(1000);
+    run_l2_servo_ccw();
+    wait_ms(1000);
+    stop_servo();
+    run_l2_dc_motor_cw();
+    wait_ms(l2_wait);
+    stop_dc_motor();
+    run_l1_dc_motor_cw();
+    wait_ms(l1_wait);
+    stop_dc_motor();
+    run_l1_dc_motor_ccw();  
+    wait_ms(l1_wait);
+    stop_dc_motor();  
+    wait_ms(1000);   
+    run_l1_servo_ccw();
+    wait_ms(1000);
+    stop_servo();
+    run_l3_dc_motor_ccw();
+    wait_ms(l3_wait);
+    stop_dc_motor();
+}
+void control(){
+    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();
+            printf("run_l2_servo_cw\r\n");
+        }
+        if(cmd == '9')
+        {
+            cmd = 0;
+            run_l2_servo_ccw();
+            wait(1);
+            stop_servo();
+            printf("run_l2_servo_ccw\r\n");
+        }
+
+
+        
+        if(cmd == 'a')
+        {
+            cmd = 0;
+            run_l3_dc_motor_cw();    
+            printf("run_l3_dc_motor_cw\r\n");
+        }
+        if(cmd == 'b')
+        {
+            cmd = 0;
+            run_l3_dc_motor_ccw();
+            printf("run_l3_dc_motor_ccw\r\n");
+        }
+        if(cmd == 'c')
+        {
+            cmd = 0;
+            run_l3_servo_cw();
+            wait(1);
+            stop_servo();
+            printf("run_l3_servo_cw\r\n");
+        }
+        if(cmd == 'd')
+        {
+            cmd = 0;
+            run_l3_servo_ccw();
+            wait(1);
+            stop_servo();
+            printf("run_l3_servo_ccw\r\n");
+        }
+        if(cmd == 't')
+        {
+            cmd = 0;
+            test_limite();
+            printf("test_limite()\r\n");
+        }
+
+        if(cmd == 'h')
+        {
+            cmd=0;
+            printf("1=stop_dc_motor\n");
+            printf("2=run_l1_dc_motor_cw; 3=run_l1_dc_motor_ccw; 4=run_l1_servo_cw; 5=run_l1_servo_ccw\n");
+            printf("6=run_l2_dc_motor_cw; 7=run_l2_dc_motor_ccw; 8=run_l2_servo_cw; 9=run_l2_servo_ccw\n");
+            printf("a=run_l3_dc_motor_cw; b=run_l3_dc_motor_ccw; c=run_l3_servo_cw; d=run_l3_servo_ccw.\n");
+        }
+    }
+}
+int main()
+{
+    printf("Hello World !\n");
+    for (int i=0; i<3; i++) {
+        auto_run();
+    }
+}