Simon Dziadon / Mbed 2 deprecated mbed_cz2_5_test

Finalny program mbed2

Dependencies:   LCD_DISCO_F429ZI mbed TS_DISCO_F429ZI BSP_DISCO_F429ZI

servo.cpp@0:33ff53112cc9, 2020-06-09 (annotated)

Committer:
azmuth_sd
Date:
Tue Jun 09 08:24:40 2020 +0000
Revision:
0:33ff53112cc9
Ostatni program drugiej czesci mbed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
azmuth_sd 0:33ff53112cc9 1 #include "servo.h"
azmuth_sd 0:33ff53112cc9 2
azmuth_sd 0:33ff53112cc9 3 InterruptIn user_button(USER_BUTTON);
azmuth_sd 0:33ff53112cc9 4
azmuth_sd 0:33ff53112cc9 5 void Servo::Automat(){
azmuth_sd 0:33ff53112cc9 6
azmuth_sd 0:33ff53112cc9 7 switch(eState){
azmuth_sd 0:33ff53112cc9 8
azmuth_sd 0:33ff53112cc9 9 case CALLIB:
azmuth_sd 0:33ff53112cc9 10 if(user_button == 0){
azmuth_sd 0:33ff53112cc9 11 myLed.StepLeft();
azmuth_sd 0:33ff53112cc9 12 }
azmuth_sd 0:33ff53112cc9 13 else{
azmuth_sd 0:33ff53112cc9 14 uiCurrentPosition = 0;
azmuth_sd 0:33ff53112cc9 15 uiDesiredPosition = 0;
azmuth_sd 0:33ff53112cc9 16 eState = IDLE;
azmuth_sd 0:33ff53112cc9 17 }
azmuth_sd 0:33ff53112cc9 18 break;
azmuth_sd 0:33ff53112cc9 19
azmuth_sd 0:33ff53112cc9 20 case IDLE:
azmuth_sd 0:33ff53112cc9 21
azmuth_sd 0:33ff53112cc9 22 if(uiCurrentPosition != uiDesiredPosition){
azmuth_sd 0:33ff53112cc9 23 eState = IN_PROGRESS;
azmuth_sd 0:33ff53112cc9 24 }
azmuth_sd 0:33ff53112cc9 25 break;
azmuth_sd 0:33ff53112cc9 26
azmuth_sd 0:33ff53112cc9 27 case IN_PROGRESS:
azmuth_sd 0:33ff53112cc9 28 if(uiCurrentPosition < uiDesiredPosition){
azmuth_sd 0:33ff53112cc9 29 uiCurrentPosition++;
azmuth_sd 0:33ff53112cc9 30 myLed.StepRight();
azmuth_sd 0:33ff53112cc9 31 }
azmuth_sd 0:33ff53112cc9 32 else if(uiCurrentPosition > uiDesiredPosition){
azmuth_sd 0:33ff53112cc9 33 uiCurrentPosition--;
azmuth_sd 0:33ff53112cc9 34 myLed.StepLeft();
azmuth_sd 0:33ff53112cc9 35 }
azmuth_sd 0:33ff53112cc9 36 else{
azmuth_sd 0:33ff53112cc9 37 eState = IDLE;
azmuth_sd 0:33ff53112cc9 38 }
azmuth_sd 0:33ff53112cc9 39 break;
azmuth_sd 0:33ff53112cc9 40 }
azmuth_sd 0:33ff53112cc9 41 }
azmuth_sd 0:33ff53112cc9 42
azmuth_sd 0:33ff53112cc9 43 void Servo::Callib(void){
azmuth_sd 0:33ff53112cc9 44
azmuth_sd 0:33ff53112cc9 45 eState = CALLIB;
azmuth_sd 0:33ff53112cc9 46 while(eState != IDLE){
azmuth_sd 0:33ff53112cc9 47 wait_ms(1);
azmuth_sd 0:33ff53112cc9 48 }
azmuth_sd 0:33ff53112cc9 49 }
azmuth_sd 0:33ff53112cc9 50
azmuth_sd 0:33ff53112cc9 51 void Servo::GoTo(unsigned int uiPosition){
azmuth_sd 0:33ff53112cc9 52
azmuth_sd 0:33ff53112cc9 53 uiDesiredPosition = uiPosition;
azmuth_sd 0:33ff53112cc9 54 eState = IN_PROGRESS;
azmuth_sd 0:33ff53112cc9 55 while(eState != IDLE){
azmuth_sd 0:33ff53112cc9 56 wait_ms(1);
azmuth_sd 0:33ff53112cc9 57 }
azmuth_sd 0:33ff53112cc9 58 }
azmuth_sd 0:33ff53112cc9 59
azmuth_sd 0:33ff53112cc9 60 void Servo::StepRight(unsigned int uiSteps){
azmuth_sd 0:33ff53112cc9 61
azmuth_sd 0:33ff53112cc9 62 uiDesiredPosition += uiSteps;
azmuth_sd 0:33ff53112cc9 63 eState = IN_PROGRESS;
azmuth_sd 0:33ff53112cc9 64 while(eState != IDLE){
azmuth_sd 0:33ff53112cc9 65 wait_ms(1);
azmuth_sd 0:33ff53112cc9 66 }
azmuth_sd 0:33ff53112cc9 67 }