main.cpp

00001 #include "mbed.h"
00002 #include "StepperMotor.h"
00003 
00004 BusOut myleds(LED1, LED2, LED3, LED4);
00005 
00006 Serial pc(USBTX, USBRX);
00007 
00008 DigitalOut ae_fxma108(p29);
00009 
00010 DigitalIn pb(p19);
00011 DigitalIn pw(p20);
00012 
00013 const char Welcome_Message[] =
00014     "\r\nHello mbed World!\r\n"
00015     "Expand your creativity and enjoy making.\r\n\r\n"
00016     "Stepper Motor Test Mode.\r\n\r\n";
00017 
00018 
00019 StepperMotor r_motor(p28,p27,p26,p25);
00020 StepperMotor l_motor(p24,p23,p22,p21);
00021 
00022 int main() {
00023     pc.printf(Welcome_Message);
00024 
00025     int old_pb=0;
00026     int new_pb;
00027     int old_pw=0;
00028     int new_pw;
00029     static int speed = 0;
00030 
00031     pb.mode(PullUp);
00032     pw.mode(PullUp);
00033 
00034     ae_fxma108 = 0;
00035 
00036     r_motor.SetSpeed(speed,CLOCK_WISE);
00037     l_motor.SetSpeed(speed,ANTI_CLOCK_WISE);
00038  
00039      r_motor.PulseEnable();
00040     l_motor.PulseEnable();
00041 
00042     while(1) {
00043         new_pb = pb;
00044         if ((new_pb==0) && (old_pb==1)) {
00045             if (speed == 0) continue;
00046             speed--;
00047             pc.printf("speed: %d\r\n",speed);
00048             r_motor.SetSpeed(speed,CLOCK_WISE);
00049             l_motor.SetSpeed(speed,ANTI_CLOCK_WISE);
00050         }
00051         old_pb = new_pb;
00052     
00053     
00054         new_pw = pw;
00055         if ((new_pw==0) && (old_pw==1)) {
00056             if (speed == 10) continue;
00057             speed++;
00058             
00059             pc.printf("speed: %d\r\n",speed);
00060             r_motor.SetSpeed(speed,CLOCK_WISE);
00061             l_motor.SetSpeed(speed,ANTI_CLOCK_WISE);
00062         }
00063         old_pw = new_pw;
00064 
00065         myleds = speed;
00066     }
00067 }