Diff: main.cpp

Revision:

1:e9c99931de4f

Parent:

0:035867391bd5

--- a/main.cpp	Tue Sep 16 04:47:40 2014 +0000
+++ b/main.cpp	Thu Jan 08 04:30:38 2015 +0000
@@ -1,13 +1,48 @@
 #include "mbed.h"
 
-DigitalIn   sw(P0_1, PullUp);
-DigitalOut  led(P1_28);
+#define STOP    0
+#define CW      1
+#define CCW     2
+ 
+Serial pc(dp16, dp15); // tx, rx
+
+PwmOut pincw(dp1), pinccw(dp2);
 
-int main(){
-    while(1){
-        while(sw == 0){
-            led = 1;
+int main() {
+    char cmd[64];
+    int rpm, pulsewidth, waittime, rounddirection = STOP;
+    pc.baud(115200);
+    pincw.write(0);
+    pinccw.write(0);
+    pincw.period_us(1500);
+    while(1) {
+        pc.scanf("%s", cmd);
+        pc.scanf("%d", &rpm);
+        pulsewidth = 1000000 / (rpm * 720 / 60);
+        if(strncmp(cmd,"CW", 2) == 0){
+            pinccw.write(1);
+            wait_us(200);
+            pincw.period_us(pulsewidth);
+            pincw.write(0.5);
+            rounddirection = CW;
+            pc.printf("OK\n");
+        }else if(strncmp(cmd,"CCW", 3) == 0){
+            pincw.write(1);
+            wait_us(200);
+            pinccw.period_us(pulsewidth);
+            pinccw.write(0.5);
+            rounddirection = CCW;
+            pc.printf("OK\n");
+        }else if(strncmp(cmd,"STOP", 4) == 0){
+            pinccw.write(1);
+            pincw.write(1);
+            rounddirection = STOP;
+            pc.printf("OK\n");
+        }else{
+            pinccw.write(1);
+            pincw.write(1);
+            rounddirection = STOP;
+            pc.printf("NG\n");
         }
-        led = 0;
     }
 }