main.cpp

00001 #include    "mbed.h"
00002 
00003 //motor spec
00004 #define     STEP_SIZE   1.8
00005 #define     MAX_SPEED   50
00006 
00007 //algo
00008 #define     SPEED_STEP  5
00009 
00010 DigitalOut motor_a1(p30);
00011 DigitalOut motor_a2(p29);
00012 DigitalOut motor_b1(p28);
00013 DigitalOut motor_b2(p27);
00014 InterruptIn bp_up(p22);
00015 InterruptIn bp_dw(p21);
00016 
00017 float   speed = SPEED_STEP;
00018 
00019 void    SpeedUp() {
00020     if (speed < MAX_SPEED)
00021         speed += SPEED_STEP;
00022 }
00023 
00024 void    SpeedDw() {
00025     if (speed > (-1 * MAX_SPEED))
00026         speed -= SPEED_STEP;
00027 }
00028 
00029 int main() {
00030     unsigned char   pos = 0;
00031     unsigned char   cycle[8][4] = {
00032         {1, 0, 0, 0},
00033         {1, 0, 1, 0},
00034         {0, 0, 1, 0},
00035         {0, 1, 1, 0},
00036         {0, 1, 0, 0},
00037         {0, 1, 0, 1},
00038         {0, 0, 0, 1},
00039         {1, 0, 0, 1}
00040     };
00041 
00042     bp_up.rise(&SpeedUp);
00043     bp_dw.rise(&SpeedDw);
00044 
00045     while (1) {
00046         motor_a1 = cycle[pos][0];
00047         motor_a2 = cycle[pos][1];
00048         motor_b1 = cycle[pos][2];
00049         motor_b2 = cycle[pos][3];
00050 
00051         if (speed != 0) {
00052             if (speed > 0) {
00053                 if (pos == 7)
00054                     pos = 0;
00055                 else
00056                     pos++;
00057             }
00058             else {
00059                 if (pos == 0)
00060                     pos = 7;
00061                 else
00062                     pos--;
00063             }
00064 
00065             wait((60.0 * STEP_SIZE) / (360.0 * 8.0 * abs(speed)));
00066         } else {
00067 
00068         }
00069     }
00070 
00071     return 1;
00072 }