Diff: main.cpp

Revision:

0:bacbeb54a4dd

Child:

1:4a4e44a7564a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Apr 06 17:50:12 2016 +0000
@@ -0,0 +1,135 @@
+#include "mbed.h"
+
+PwmOut phaseA(PA_8);
+DigitalOut phaseAEN(PC_10);
+PwmOut phaseB(PA_9);
+DigitalOut phaseBEN(PC_11);
+PwmOut phaseC(PA_10);
+DigitalOut phaseCEN(PC_12);
+
+InterruptIn button(USER_BUTTON);
+
+DigitalOut led(LED1);
+Ticker interrupt;
+
+int count = 0;
+float pwmDuty = 0.3;
+
+void intcall(){
+    count = (count + 1) % 6;
+    
+    if(count == 0)  //B+, C-
+    {
+//        phaseA = 0;
+//        phaseAP = 0;
+//        phaseB = 1;
+//        phaseBP = 0;
+//        phaseC = 0;
+//        phaseCP = 1;
+        phaseAEN = 0;
+        phaseA.write(0);
+        phaseB.write(pwmDuty);
+        phaseBEN = 1;
+    }
+    else if(count == 1) //B+, A-
+    {
+//        phaseA = 0;
+//        phaseAP = 1;
+//        phaseB = 1;
+//        phaseBP = 0;
+//        phaseC = 0;
+//        phaseCP = 0;
+        phaseCEN = 0;
+        phaseAEN = 1;
+    }
+    else if(count == 2) //C+, A-
+    {
+//        phaseA = 0;
+//        phaseAP = 1;
+//        phaseB = 0;
+//        phaseBP = 0;
+//        phaseC = 1;
+//        phaseCP = 0;
+        phaseBEN = 0;
+        phaseB.write(0);
+        phaseC.write(pwmDuty);
+        phaseCEN = 1;
+    }
+    else if(count == 3) //C+, B-
+    {
+//        phaseA = 0;
+//        phaseAP = 0;
+//        phaseB = 0;
+//        phaseBP = 1;
+//        phaseC = 1;
+//        phaseCP = 0;
+        phaseAEN = 0;
+        phaseBEN = 1;
+    }
+    else if(count == 4) //A+, B-
+    {
+//        phaseA = 1;
+//        phaseAP = 0;
+//        phaseB = 0;
+//        phaseBP = 1;
+//        phaseC = 0;
+//        phaseCP = 0;
+        phaseCEN = 0;
+        phaseC.write(0);
+        phaseA.write(pwmDuty);
+        phaseAEN = 1;
+    }
+    else if(count == 5) //A+, C-
+    {
+//        phaseA = 1;
+//        phaseAP = 0;
+//        phaseB = 0;
+//        phaseBP = 0;
+//        phaseC = 0;
+//        phaseCP = 1;
+        phaseBEN = 0;
+        phaseCEN = 1;
+    }
+}
+
+int stall = 0;
+void activate()
+{
+    stall = 1;
+}
+
+int main() {
+    float intDelay = .05;
+//    float minDelay = .005;
+    float minDelay = .025;
+    button.rise(&activate);
+    while(stall == 0) {
+        led = !led;
+        wait(2);
+    }
+    interrupt.attach(&intcall, intDelay);
+    phaseA.period_us(10);
+    phaseB.period_us(10);
+    phaseC.period_us(10);
+    
+    phaseA.write(0);
+    phaseB.write(pwmDuty);
+    phaseC.write(0);    
+    
+    phaseAEN = 0;
+    phaseBEN = 1;
+    phaseCEN = 1;
+    
+    while(1) {
+        led = !led;
+        wait(0.2);
+        if(intDelay > minDelay)
+        {
+            intDelay -= .001;
+            interrupt.detach();
+            interrupt.attach(&intcall, intDelay);
+//            pwmDuty += .01;
+            pwmDuty += .007;
+        }
+    }
+}