Diff: main.cpp

Revision:

12:ef4ba26d0e2f

Parent:

11:3efd6a324f16

--- a/main.cpp	Mon Oct 08 15:10:47 2018 +0000
+++ b/main.cpp	Fri Oct 12 12:17:08 2018 +0000
@@ -1,9 +1,9 @@
 #include "mbed.h"
 #include "FastPWM.h"    
+#include "MODSERIAL.h"
 #include "QEI.h"        // Includes library for encoder
 
-Ticker motor;
-
+MODSERIAL pc(USBTX, USBRX);
 AnalogIn pot1(A1);
 AnalogIn pot2(A2);
 InterruptIn button1(D0);
@@ -28,6 +28,7 @@
 DigitalOut pin7(D7);    // Motor 1 direction
 //float u1  = pot1;
 
+Ticker motor;
 float u3 = 0.0;         // Normalised variable for the movement of motor 3
 
 void draaibuttons()         
@@ -36,32 +37,65 @@
         simultaneously results for the turning speed of motor 3 in a slower movement,
         and eventually the motor will turn the other way around.
     */
-    if (button1 == 1)
-    {   if (button2 == 1)
-        {   u3 = u3 + 0.1;  //In stapjes van 0.1
+    enum Rotatingdir3 {CCWrotating,CWrotating};
+    Rotatingdir3 RotatingCurrent = CCWrotating;
+    bool RotatingChanged = true;
+    
+    switch (RotatingCurrent)
+    {   case CCWrotating:
+        if  (RotatingChanged)
+        {   
+            RotatingChanged = false;
+        }
+        
+        // Code for rotating counterclockwise
+        if (button2 == 1)
+        {   u3 = u3 + 0.1f;  //In stapjes van 0.1
             pin3 = fabs(u3);
-            if (u3>1.0)
-            {   u3 = 1.0;
+            if (u3>1.0f)
+            {   u3 = 1.0f;
             }
         }
-    }
-    else if (button1 == 0)
-    {   if (button2 == 1)
-        {   u3 = u3 - 0.1;
+            
+        // Transition to CWrotating if button is pressed
+        if (button1 == 1)
+        {
+            RotatingCurrent = CWrotating;
+            RotatingChanged = true;
+            pc.printf("The rotating direction for motor 3 is now counterclockwise");
+        }
+        break;
+        
+        case CWrotating:
+        if (RotatingChanged)
+        {   
+            RotatingChanged = false;
+        }
+        // Code for rotating clockwise
+        if (button2 == 1)
+        {   u3 = u3 - 0.1f;
             pin3 = fabs(u3);
-            if (u3>1.0)
-            {   u3 = 1.0;
+            if (u3>1.0f)
+            {   u3 = 1.0f;
             }
         }
+        
+        // Transition to CWrotating if button is pressed
+        if (button1 == 1)
+        {   RotatingCurrent = CCWrotating;
+            RotatingChanged = true;
+            pc.printf("The rotating direction for motor 3 is now clockwise");
+        }
+        break;
     }
 }
-
-void draai()    
+    
+void draai()  
 /*  Function for the movement of all motors, using the potmeters for the moving
     direction and speed of motor 1 and 2, and using button 1 and 2 on the biorobotics
     shield for the moving direction and speed of motor 3.
-*/
-{      
+*/   
+{  
     float u1 = 2.0*(pot1 - 0.5);    // Normalised variable for the movement of motor 1
     if (u1>0)
     {   pin4 = true;
@@ -93,7 +127,10 @@
 
 int main()
 {
+    pc.baud(115200);
+    
     pin5.period(1.0/10000);
+    
     button1.rise(&draaibuttons);       
     button2.rise(&draaibuttons);
     
@@ -105,6 +142,7 @@
     
     pin6.period_us(50);
     motor.attach(draai, 0.001);
+    
     while(true)
     {
     }