Diff: main.cpp

Revision:

3:50e030d90648

Parent:

2:050f12806bc5

Child:

4:d452a7e3461a

--- a/main.cpp	Fri Jun 17 11:18:41 2016 +0000
+++ b/main.cpp	Fri Jun 17 11:45:23 2016 +0000
@@ -13,7 +13,8 @@
 DigitalOut myled(LED1);     // Blinking LED
 
 // --- Define the Foor PINs used for Motor drive -----
-Motor(PA_9, PC_7, PB_6, PA_7)
+Motor motorBox(PA_9, PC_7, PB_6, PA_7)
+// Motor motorDancer(PA_9, PC_7, PB_6, PA_7)
 
 // --- Define PC_8 as the output of PWM use for Tones -----
 Buzzer buzzer(PC_8);
@@ -23,104 +24,6 @@
 
 // --- Motor Routine
 
-void    StartMotor()
-{
-        MotorIndex = 0;
-        MPh0 = 1;  MPh1 = 0;  MPh2 = 0;   MPh3 = 0;
-}
-void    RightMotor()    // Move the Motor one step Right
-{
-    const   int RPh0[4] = {0, 1, 0, 0};
-    const   int RPh1[4] = {0, 0, 1, 0};
-    const   int RPh2[4] = {0, 0, 0, 1};
-    const   int RPh3[4] = {1, 0, 0, 0};
-    MPh0 = RPh0[MotorIndex];  MPh1 = RPh1[MotorIndex];  MPh2 = RPh2[MotorIndex];  MPh3 = RPh3[MotorIndex];
-    if (MotorIndex<3) MotorIndex++;
-    else    MotorIndex = 0;
-}
-void    LeftMotor()    // Move the Motor one step Right
-{
-    const   int LPh0[4] = {0, 0, 1, 0};
-    const   int LPh1[4] = {0, 1, 0, 0};
-    const   int LPh2[4] = {1, 0, 0, 0};
-    const   int LPh3[4] = {0, 0, 0, 1};
-    MPh0 = LPh0[MotorIndex];  MPh1 = LPh1[MotorIndex];  MPh2 = LPh2[MotorIndex];  MPh3 = LPh3[MotorIndex];
-    if (MotorIndex<3) MotorIndex++;
-    else    MotorIndex = 0;
-}
-
-void    RunMotor()     // Move the Motor in the user direction
-{
-        if (MotorDir==d_clock) RightMotor();
-        else LeftMotor();
-}
-
-void ProcessMotorStateMachine()
-{
-        if (MotorState==Motor_IDLE) {
-            uint32_t    led = 0;
-            if (MotorCommand == k_wire) {
-                // Start the Wiring
-                StartMotor();
-                led = 1;
-                MotorState = Motor_RUN;
-                }
-            else if (MotorCommand == k_zero) {
-                // Start zeroing the Motor
-                StartMotor();
-                led = 1;
-                MotorState = Motor_ZERO;
-                }
-            MotorCommand = k_nop;
-            myled = led;        // LED is on when motor in use
-            }
-        else if (MotorState==Motor_RUN) {
-            // Action always performed in that state
-             if (NumSteps>0) {
-                RunMotor();
-                NumSteps--;
-                }
-            // Check next state
-            if (MotorCommand == k_pause) {
-                MotorState = Motor_PAUSE;
-                }
-            else if ((MotorCommand == k_stop)||(NumSteps<=0)) {
-                StopMotor();
-                MotorState = Motor_IDLE;
-                }
-            MotorCommand = k_nop;
-            }
-        else if (MotorState==Motor_PAUSE) {
-            if (MotorCommand == k_stop) {
-                StopMotor();
-                NumSteps=0;
-                MotorState = Motor_IDLE;
-                }
-            else if (MotorCommand == k_restart) {
-                MotorState = Motor_RUN;
-                }
-            MotorCommand = k_nop;
-            }
-        else if (MotorState==Motor_ZERO) {
-            MotorCommand = k_nop;
-            }
-}
-
-void TestMotor()    // Just to check that it make a full taurn back and forth
-{
-    int i;
-    StartMotor();
-    for (i=0; i<MotorFullTurn; i++) {
-        wait(0.005);
-        RightMotor();
-        }   
-    wait(0.5);
-    for (i=0; i<MotorFullTurn; i++) {
-        wait(0.005);
-        LeftMotor();
-        }   
-    StopMotor();
-}
 void help() // Display list of Commands
 {
     DEBUG("List of commands:\n\r");
@@ -139,17 +42,8 @@
     DEBUG(" [space] --> print remaining Motor steps\n\r");
 }
 
-void end_wiring()   // Display message and Play a song when wirring is completed
-{
-    DEBUG("--- SUCCESS: Coils wiring completed ---\n\r");
-    // Play a single Song
-    pMusic= new Music(song_lightmyfire);
-    pMusic->play(&buzzer);
-    buzzer.tone(&la);
-    delete(pMusic);
-}
-
 int main() {
+    uint32_t NumberOfTurns;
     myled = 1;      // To see something is alive
     DEBUG("\n\n\r");
     DEBUG("------------------------------------------\n\r"); 
@@ -159,17 +53,7 @@
     DEBUG("------------------------------------------\n\r"); 
     wait(5);        // Some delay
     myled = 0;      // Real stuff starts here
-    //
-    // Connect Interrupt routine in which the motor and all the state machine is performed
-    //
-    MotorDir = d_clock;         // Default direction is clockwise
-    MotorState = Motor_IDLE;    // Default state is IDLE
-    MotorCommand = k_nop;       // Default command is NOP
-    MotorStepTime = 10000;      // value in micro second for one step
-    MotorFullTurn = 2140;       // Initial Calibration
-    NumSteps = 0;               // Default
-    MotorSystemTick.attach_us(&ProcessMotorStateMachine, MotorStepTime);
-    //
+     //
     while(1) {
         char command;   // Command to execute
         uint32_t TimeToRunSec, TimeToRunMin;
@@ -181,13 +65,9 @@
         case 'z': MotorCommand = k_zero; break;
         case 'k': TestMotor(); break;
         case 'n':
-            pc_uart.scanf("%d", &NumWires);
-            NumSteps = NumWires*MotorFullTurn;
-            TimeToRunSec = (NumSteps * (MotorStepTime / 1000))/1000;
-            TimeToRunMin = TimeToRunSec / 60;
-            TimeToRunSec %= 60;
-            DEBUG("%d  --> Step = %d; Time = %d,%2d (min, sec)\n\r", NumWires, NumSteps, TimeToRunMin, TimeToRunSec);
-            break;
+            pc_uart.scanf("%d", &NumberOfTurns);
+            MotorBox->TurnMotor(NumberOfTurns);
+           break;
         case 'c': MotorDir = d_clock; break;
         case 'a': MotorDir = d_anti;  break;
         case 'm': DEBUG(" [ not ready yet ]\n\r"); break;