main.cpp

00001 /*  
00002  Version 7 – Mike edit 
00003 */  
00004 
00005 #include "mbed.h"  
00006 
00007 //Motor PWM (speed)  
00008 PwmOut PWMA(PA_8);  
00009 PwmOut PWMB(PB_4);  
00010 
00011 //Motor Direction  
00012 DigitalOut DIRA(PA_9);  
00013 DigitalOut DIRB(PB_10); 
00014 
00015 //On board switch  
00016 DigitalIn SW1(USER_BUTTON);    
00017 
00018 //Use the serial object so we can use higher speeds  
00019 Serial terminal(USBTX, USBRX);  
00020 
00021 //Timer used for measuring speeds  
00022 Timer timer;                                                                            
00023 
00024 //Enumerated types  
00025 enum DIRECTION   {FORWARD=0, REVERSE};  
00026 enum PULSE       {NOPULSE=0, PULSE};  
00027 enum SWITCHSTATE {PRESSED=0, RELEASED};  
00028 
00029 //Debug GPIO  
00030 DigitalOut probe(D10);  
00031 
00032 //Duty cycles  
00033 float dutyA = 1.0f; //100%  
00034 float dutyB = 1.0f; //100%  
00035 
00036 int main()  
00037 {  
00038     //Configure the terminal to high speed  
00039     terminal.baud(115200); 
00040     
00041     //Set initial motor direction  
00042     DIRA = FORWARD;  
00043     DIRB = FORWARD;  
00044     
00045     //Set motor period to 100Hz  
00046     PWMA.period_ms(10);  
00047     PWMB.period_ms(10);  
00048     
00049     //Set initial motor speed to stop  
00050     PWMA.write(0.0f);           //0% duty cycle  
00051     PWMB.write(0.0f);           //0% duty cycle  
00052     
00053     //Wait for USER button (blue pull-down switch) to start  
00054     terminal.puts("Press USER button to start");  
00055     while (SW1 == RELEASED);
00056     
00057     //Set initial motor speed to stop    {  
00058     for(float ramp = 0.0f; ramp <= 1.0f ; ramp += 0.2)  
00059         {  
00060             PWMA.write(ramp);          //Set duty cycle y  
00061             PWMB.write(ramp);          //Set duty cycle y  
00062             wait(1);  
00063         }  
00064         
00065     PWMA.write(dutyA);          //Set duty cycle y  
00066     PWMB.write(dutyB);          //Set duty cycle y 
00067     wait(1.1);
00068     PWMB.write(0.2f);          //turn 31deg 
00069     wait(1.3);  
00070     PWMA.write(dutyA);          //Set duty cycle hyp  
00071     PWMB.write(dutyB);          //Set duty cycle hyp  
00072     wait(4.4);  
00073     PWMB.write(0.2f);          //turn 59deg 
00074     wait(1.1);  
00075     PWMA.write(dutyA);          //Set duty cycle x  
00076     PWMB.write(dutyB);          //Set duty cycle x  
00077     wait(2.4);  
00078     PWMB.write(0.2f);          //turn 90deg 
00079     wait(0.7);  
00080     
00081     PWMA.write(0.0f);    
00082     PWMB.write(0.0f);
00083 }