project enzo / Mbed 2 deprecated Nucleo_ticker

mooi spul

Dependencies:   mbed

main.cpp@0:29223e7b313d, 2017-05-03 (annotated)

Committer:
joosthartkamp
Date:
Wed May 03 09:54:02 2017 +0000
Revision:
0:29223e7b313d
mooi spul

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joosthartkamp 0:29223e7b313d 1 #include "mbed.h"
joosthartkamp 0:29223e7b313d 2
joosthartkamp 0:29223e7b313d 3 Ticker lidar;
joosthartkamp 0:29223e7b313d 4 Ticker serial;
joosthartkamp 0:29223e7b313d 5
joosthartkamp 0:29223e7b313d 6 Serial pc(USBTX, USBRX);
joosthartkamp 0:29223e7b313d 7
joosthartkamp 0:29223e7b313d 8 DigitalOut led1(LED1);
joosthartkamp 0:29223e7b313d 9 DigitalOut steppera (D2);
joosthartkamp 0:29223e7b313d 10 DigitalOut stepperb (D3);
joosthartkamp 0:29223e7b313d 11 DigitalOut stepperc (D4);
joosthartkamp 0:29223e7b313d 12 DigitalOut stepperd (D5);
joosthartkamp 0:29223e7b313d 13
joosthartkamp 0:29223e7b313d 14 int stapmode = 0;
joosthartkamp 0:29223e7b313d 15 int position = 0;
joosthartkamp 0:29223e7b313d 16 int pos;
joosthartkamp 0:29223e7b313d 17
joosthartkamp 0:29223e7b313d 18 // poar neemn
joosthartkamp 0:29223e7b313d 19 // twee poar neemn
joosthartkamp 0:29223e7b313d 20 // twee tettn in n envelop
joosthartkamp 0:29223e7b313d 21
joosthartkamp 0:29223e7b313d 22 int stepper(int stapmode)
joosthartkamp 0:29223e7b313d 23 {
joosthartkamp 0:29223e7b313d 24 switch (stapmode) {
joosthartkamp 0:29223e7b313d 25 case 0:
joosthartkamp 0:29223e7b313d 26 steppera = 1;
joosthartkamp 0:29223e7b313d 27 stepperb = 0;
joosthartkamp 0:29223e7b313d 28 stepperc = 1;
joosthartkamp 0:29223e7b313d 29 stepperd = 0;
joosthartkamp 0:29223e7b313d 30 pos ++;
joosthartkamp 0:29223e7b313d 31 break;
joosthartkamp 0:29223e7b313d 32 case 1:
joosthartkamp 0:29223e7b313d 33 steppera = 1;
joosthartkamp 0:29223e7b313d 34 stepperb = 0;
joosthartkamp 0:29223e7b313d 35 stepperc = 0;
joosthartkamp 0:29223e7b313d 36 stepperd = 1;
joosthartkamp 0:29223e7b313d 37 pos ++;
joosthartkamp 0:29223e7b313d 38 break;
joosthartkamp 0:29223e7b313d 39 case 2:
joosthartkamp 0:29223e7b313d 40 steppera = 0;
joosthartkamp 0:29223e7b313d 41 stepperb = 1;
joosthartkamp 0:29223e7b313d 42 stepperc = 0;
joosthartkamp 0:29223e7b313d 43 stepperd = 1;
joosthartkamp 0:29223e7b313d 44 pos ++;
joosthartkamp 0:29223e7b313d 45 break;
joosthartkamp 0:29223e7b313d 46 case 3:
joosthartkamp 0:29223e7b313d 47 steppera = 0;
joosthartkamp 0:29223e7b313d 48 stepperb = 1;
joosthartkamp 0:29223e7b313d 49 stepperc = 1;
joosthartkamp 0:29223e7b313d 50 stepperd = 0;
joosthartkamp 0:29223e7b313d 51 pos ++;
joosthartkamp 0:29223e7b313d 52 break;
joosthartkamp 0:29223e7b313d 53 ;
joosthartkamp 0:29223e7b313d 54 }
joosthartkamp 0:29223e7b313d 55 if (pos > 360) {
joosthartkamp 0:29223e7b313d 56 pos = 0;
joosthartkamp 0:29223e7b313d 57 }
joosthartkamp 0:29223e7b313d 58 return pos;
joosthartkamp 0:29223e7b313d 59
joosthartkamp 0:29223e7b313d 60 }
joosthartkamp 0:29223e7b313d 61
joosthartkamp 0:29223e7b313d 62 void run_serial() //deze functie word periodiek aangeroepen om de stappenmotor te draaien en de afstand te meten
joosthartkamp 0:29223e7b313d 63 {
joosthartkamp 0:29223e7b313d 64
joosthartkamp 0:29223e7b313d 65 pc.printf("%d\n",position);
joosthartkamp 0:29223e7b313d 66 }
joosthartkamp 0:29223e7b313d 67
joosthartkamp 0:29223e7b313d 68 void run_lidar() //deze functie word periodiek aangeroepen om de stappenmotor te draaien en de afstand te meten
joosthartkamp 0:29223e7b313d 69 {
joosthartkamp 0:29223e7b313d 70 stapmode ++;
joosthartkamp 0:29223e7b313d 71 if (stapmode > 3) {
joosthartkamp 0:29223e7b313d 72 stapmode = 0;
joosthartkamp 0:29223e7b313d 73 }
joosthartkamp 0:29223e7b313d 74 position = stepper(stapmode);
joosthartkamp 0:29223e7b313d 75 }
joosthartkamp 0:29223e7b313d 76
joosthartkamp 0:29223e7b313d 77 int main()
joosthartkamp 0:29223e7b313d 78 {
joosthartkamp 0:29223e7b313d 79 lidar.attach(&run_lidar, 0.0001);
joosthartkamp 0:29223e7b313d 80 serial.attach(&run_serial, 0.2);
joosthartkamp 0:29223e7b313d 81 while (true) {
joosthartkamp 0:29223e7b313d 82 //doe maar wat leuks
joosthartkamp 0:29223e7b313d 83 led1 = !led1;
joosthartkamp 0:29223e7b313d 84 wait_ms (500);
joosthartkamp 0:29223e7b313d 85 }
joosthartkamp 0:29223e7b313d 86
joosthartkamp 0:29223e7b313d 87
joosthartkamp 0:29223e7b313d 88 }