Diff: main.cpp

Revision:

0:bdf4225c5c58

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 03 21:23:35 2016 +0000
@@ -0,0 +1,256 @@
+#include "mbed.h"
+
+#define LEDS 0xFF
+
+PortOut ledport(PortC, LEDS);
+//DigitalOut RLY1(PC_10);
+DigitalOut Buzzer(PB_0);
+DigitalIn  Button(PC_13);
+Serial pc(PA_9,PA_10); // tx rx
+DigitalOut myled(LED1);
+
+DigitalOut M1A(PB_4);
+DigitalOut M1B(PB_10);
+
+DigitalOut M2A(PB_5);
+DigitalOut M2B(PC_4);
+
+PwmOut mypwm(PWM_OUT);
+
+Ticker toggle_led_ticker;
+
+int i = 0;
+bool RcvCmd = 0;
+bool Stop = 1;
+bool Start = 0;
+int  Tick = 0;
+int  Duty = 33;
+int  Times = 0;
+char RcvChar = 0;
+
+//-------------------------------------------------------------//
+//-------------------------------------------------------------//
+//-------------------------------------------------------------//
+//-------------------------------------------------------------//
+void Slower (void)
+{
+    ++Times;
+    
+    if(Times >=5)
+    {
+        Times = 0;
+        Buzzer = 1;
+        wait(0.2);
+        Buzzer = 0; 
+        
+        
+        if(Duty > 20)
+        {
+            --Duty;
+           mypwm.pulsewidth_us(Duty);
+        }
+        else
+        {
+
+        }
+    }
+    
+}    
+//-------------------------------------------------------------//
+void Faster (void)
+{
+    ++Times;
+    
+    if(Times >=5)
+    {
+        Times = 0;
+        Buzzer = 1;
+        wait(0.2);
+        Buzzer = 0; 
+        
+        if(Duty < 45)
+        {
+           ++Duty;
+           mypwm.pulsewidth_us(Duty); 
+        }    
+        else
+        {
+            
+        }    
+    }
+    
+    
+    
+}   
+//-------------------------------------------------------------//
+void Beep (void)
+{
+ Buzzer = 1;
+ wait(0.2);
+ Buzzer = 0;   
+}
+//-------------------------------------------------------------//
+void toggle_led() 
+{
+    myled = !myled;
+    
+    ++Tick;
+    
+    if(Tick >= 10)
+    {
+        Stop = 1;
+    }
+    else
+    {
+       
+    }    
+    
+    
+}
+//-------------------------------------------------------------//
+void Detener (void)
+{
+    M1A = 0;
+    M1B = 0;
+    M2A = 0;
+    M2B = 0;
+    //Buzzer = 0;
+}
+//-------------------------------------------------------------//
+void Derecha (void)
+{
+    
+    M1A = 0;
+    M1B = 1;
+    M2A = 1;
+    M2B = 0;
+    
+    Stop = 0;
+    Tick = 0;
+    //Buzzer = 1;
+}
+//-------------------------------------------------------------//
+void Izquierda (void)
+{
+    M1A = 1;
+    M1B = 0;
+    M2A = 0;
+    M2B = 1;
+    
+    Stop = 0;
+    Tick = 0;
+    //Buzzer = 1;
+}
+//-------------------------------------------------------------//
+void Atras (void)
+{
+    M1A = 1;
+    M1B = 0;
+    M2A = 1;
+    M2B = 0;
+    
+    Stop = 0;
+    Tick = 0;
+    //Buzzer = 1;
+}
+//-------------------------------------------------------------//
+void Adelante(void)
+{
+    M1A = 0;
+    M1B = 1;
+    M2A = 0;
+    M2B = 1;
+    
+    Stop = 0;
+    Tick = 0;
+    //Buzzer = 1;
+    
+}
+//-------------------------------------------------------------//
+
+
+
+int main() 
+{
+ 
+ mypwm.period_us(50);
+ mypwm.pulsewidth_us(Duty);
+ 
+ toggle_led_ticker.attach(&toggle_led, 0.01);
+ 
+ 
+ while(1) 
+ {
+  if(pc.readable())
+  {
+   RcvChar = pc.getc();
+   
+   
+   
+   switch(RcvChar)
+   {
+     case 'F':
+     {
+      Adelante();
+      
+      Tick = 0;
+     }
+     break;
+     
+     case 'B':
+     {
+      Atras();
+      
+     }
+     break;
+     
+     case 'I':
+     {
+      Izquierda();
+
+     }
+     break;
+     
+     case 'D':
+     {
+      Derecha();
+ 
+     }
+     break;
+     
+     
+     case 'P':
+     {
+      Beep();
+     }
+     break;
+     
+     case 'X':
+     {
+      Faster();
+     }
+     break;
+     
+     case 'Y':
+     {
+      Slower();
+     }
+     break;
+     
+     default:
+     {
+         Detener();
+     }
+     break;
+      
+     
+   } //end switch
+  }
+  
+  
+   if(Stop)
+   {
+       Detener();
+   } 
+ }   // end main loop
+}