Diff: main.cpp

Revision:

0:31704dbffee1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jul 20 14:21:22 2010 +0000
@@ -0,0 +1,72 @@
+#include    "mbed.h"
+
+//motor spec
+#define     STEP_SIZE   1.8
+#define     MAX_SPEED   50
+
+//algo
+#define     SPEED_STEP  5
+
+DigitalOut motor_a1(p30);
+DigitalOut motor_a2(p29);
+DigitalOut motor_b1(p28);
+DigitalOut motor_b2(p27);
+InterruptIn bp_up(p22);
+InterruptIn bp_dw(p21);
+
+float   speed = SPEED_STEP;
+
+void    SpeedUp() {
+    if (speed < MAX_SPEED)
+        speed += SPEED_STEP;
+}
+
+void    SpeedDw() {
+    if (speed > (-1 * MAX_SPEED))
+        speed -= SPEED_STEP;
+}
+
+int main() {
+    unsigned char   pos = 0;
+    unsigned char   cycle[8][4] = {
+        {1, 0, 0, 0},
+        {1, 0, 1, 0},
+        {0, 0, 1, 0},
+        {0, 1, 1, 0},
+        {0, 1, 0, 0},
+        {0, 1, 0, 1},
+        {0, 0, 0, 1},
+        {1, 0, 0, 1}
+    };
+
+    bp_up.rise(&SpeedUp);
+    bp_dw.rise(&SpeedDw);
+
+    while (1) {
+        motor_a1 = cycle[pos][0];
+        motor_a2 = cycle[pos][1];
+        motor_b1 = cycle[pos][2];
+        motor_b2 = cycle[pos][3];
+
+        if (speed != 0) {
+            if (speed > 0) {
+                if (pos == 7)
+                    pos = 0;
+                else
+                    pos++;
+            }
+            else {
+                if (pos == 0)
+                    pos = 7;
+                else
+                    pos--;
+            }
+
+            wait((60.0 * STEP_SIZE) / (360.0 * 8.0 * abs(speed)));
+        } else {
+
+        }
+    }
+
+    return 1;
+}