Diff: main.cpp

Revision:

0:1b228aff0bda

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 17 01:14:23 2015 +0000
@@ -0,0 +1,183 @@
+#include "mbed.h"
+/*
+#define ENA 8
+#define ENB 13
+
+#define black 9  // In1
+#define brown 10  // In2
+#define orange 11  // In3
+#define yellow 12  // In4
+*/
+//L298n connections
+DigitalOut pinI1(D5);
+DigitalOut pinI2(D6);
+DigitalOut pinI3(D10);
+DigitalOut pinI4(D11);
+DigitalOut ENA(D12);    //Left
+DigitalOut ENB(D13);    //Right
+
+void forward(int i, float j);
+void reverse(int i, float j);
+
+int main()
+{
+    while (true) 
+    {
+        forward(100, 0.003f);
+        //wait(1.0f);
+        //reverse(10, 0.1f);
+        //wait(1.0f);
+    }
+}
+
+void reverse(int i, float j) 
+{
+
+    // Pin 8 Enable A Pin 13 Enable B on
+    //digitalWrite(ENA, HIGH);
+    ENA = 1;
+    //digitalWrite(ENB, HIGH);
+    ENB = 1;
+    
+    //j = j + .010f;
+    while (1)   {
+    
+    //digitalWrite(black, 0);
+    //digitalWrite(brown, 1);
+    //digitalWrite(orange, 1);
+    //digitalWrite(yellow, 0);
+    pinI1 = 0;
+    pinI2 = 1;
+    pinI3 = 1;
+    pinI4 = 0;
+    
+    wait(j);  
+    i--;
+    if (i < 1) break;
+    
+    /*
+    digitalWrite(black, 0);
+    digitalWrite(brown, 1);
+    digitalWrite(orange, 0);
+    digitalWrite(yellow, 1);
+    */
+    pinI1 = 0;
+    pinI2 = 1;
+    pinI3 = 0;
+    pinI4 = 1;
+    wait(j);
+    i--;
+    if (i < 1) break;
+    
+    /*
+    digitalWrite(black, 1);
+    digitalWrite(brown, 0);
+    digitalWrite(orange, 0);
+    digitalWrite(yellow, 1);
+    */
+    pinI1 = 1;
+    pinI2 = 0;
+    pinI3 = 0;
+    pinI4 = 1;
+    wait(j);  
+    i--;
+    if (i < 1) break;
+    /*
+    digitalWrite(black, 1);
+    digitalWrite(brown, 0);
+    digitalWrite(orange, 1);
+    digitalWrite(yellow, 0);
+    */
+    pinI1 = 1;
+    pinI2 = 0;
+    pinI3 = 1;
+    pinI4 = 0;
+    wait(j);
+    i--;
+    if (i < 1) break;
+    }
+    
+    // all outputs to stepper off
+    //digitalWrite(ENA, LOW);
+    //digitalWrite(ENB, LOW);
+    ENA = 0;
+    ENB = 0;
+}
+
+
+
+void forward(int i, float j) 
+{
+
+    // Pin 8 Enable A Pin 13 Enable B on
+    //digitalWrite(ENA, HIGH);
+    //digitalWrite(ENB, HIGH);
+    ENA = 1;
+    ENB = 1;
+    
+    //j = j + .010f;
+    while (1)   {
+    /*
+    digitalWrite(black, 1);
+    digitalWrite(brown, 0);
+    digitalWrite(orange, 1);
+    digitalWrite(yellow, 0);
+    */
+    pinI1 = 1;
+    pinI2 = 0;
+    pinI3 = 1;
+    pinI4 = 0;
+    wait(j);
+    i--;
+    if (i < 1) break; 
+    
+    
+    /*
+    digitalWrite(black, 1);
+    digitalWrite(brown, 0);
+    digitalWrite(orange, 0);
+    digitalWrite(yellow, 1);
+    */
+    pinI1 = 1;
+    pinI2 = 0;
+    pinI3 = 0;
+    pinI4 = 1;
+    wait(j);  
+    i--;
+    if (i < 1) break;
+    /*
+    digitalWrite(black, 0);
+    digitalWrite(brown, 1);
+    digitalWrite(orange, 0);
+    digitalWrite(yellow, 1);
+    */
+    pinI1 = 0;
+    pinI2 = 1;
+    pinI3 = 0;
+    pinI4 = 1;
+    wait(j);
+    i--;
+    if (i < 1) break;
+    /*
+    digitalWrite(black, 0);
+    digitalWrite(brown, 1);
+    digitalWrite(orange, 1);
+    digitalWrite(yellow, 0);
+    */
+    pinI1 = 0;
+    pinI2 = 1;
+    pinI3 = 1;
+    pinI4 = 0;
+    wait(j);  
+    i--;
+    if (i < 1) break;
+    
+    
+    }
+    
+    // all outputs to stepper off
+    //digitalWrite(ENA, LOW);
+    //digitalWrite(ENB, LOW);
+    ENA = 0;
+    ENB = 0;
+}
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