GSL_10-Pololu_A4983_STEPMOTORDRIVER - Generic Step Motor WebInterface - control a step …

Users » botdream » Code » GSL_10-Pololu_A4983_STEPMOTORDRIVER

Nelson Neves / GSL_10-Pololu_A4983_STEPMOTORDRIVER

Generic Step Motor WebInterface - control a step motor using a Pololu A4983 driver from a webinterface (EXPERIMENTAL PROTOTYPE - just to be used as a proof-of-concept for a IoT talk, will not be updating this code so often)

Dependencies: EthernetNetIf RPCInterface mbed HTTPServer

main.cpp@0:8b3857d4ce02, 2012-04-16 (annotated)

Committer:: botdream
Date:: Mon Apr 16 09:41:53 2012 +0000
Revision:: 0:8b3857d4ce02

Who changed what in which revision?

User	Revision	Line number	New contents of line
botdream	0:8b3857d4ce02	1	/* //---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	2	// disable/enable auto-run
botdream	0:8b3857d4ce02	3	http://192.168.1.100/rpc/enable/write%200
botdream	0:8b3857d4ce02	4	http://192.168.1.100/rpc/enable/write%201
botdream	0:8b3857d4ce02	5
botdream	0:8b3857d4ce02	6	// normal/inverse direction
botdream	0:8b3857d4ce02	7	http://192.168.1.100/rpc/direction/write%200
botdream	0:8b3857d4ce02	8
botdream	0:8b3857d4ce02	9	// timer delay - motor speed
botdream	0:8b3857d4ce02	10	http://192.168.1.100/rpc/delay/write%200.00001 (default)
botdream	0:8b3857d4ce02	11	http://192.168.1.100/rpc/delay/write%200.0000025 (max)
botdream	0:8b3857d4ce02	12
botdream	0:8b3857d4ce02	13	http://192.168.1.100/rpc/delay/write%200.00048 (super slow)
botdream	0:8b3857d4ce02	14
botdream	0:8b3857d4ce02	15	// RPC number of steps
botdream	0:8b3857d4ce02	16	http://192.168.1.100/rpc/nsteps/run%2016 (16 microsteps => 1 step)
botdream	0:8b3857d4ce02	17	http://192.168.1.100/rpc/nsteps/run%203200 (200 Steps -> 360�)
botdream	0:8b3857d4ce02	18
botdream	0:8b3857d4ce02	19	// RPC StepCmd
botdream	0:8b3857d4ce02	20	http://192.168.1.100/rpc/stepcmd/run%201000%20100%201
botdream	0:8b3857d4ce02	21
botdream	0:8b3857d4ce02	22	// RPC StepMode
botdream	0:8b3857d4ce02	23	http://192.168.1.100/rpc/stepmode/run%200
botdream	0:8b3857d4ce02	24	http://192.168.1.100/rpc/stepmode/run%201
botdream	0:8b3857d4ce02	25
botdream	0:8b3857d4ce02	26	//Sleep mode
botdream	0:8b3857d4ce02	27	http://192.168.1.100/rpc/sleepmode/run%200
botdream	0:8b3857d4ce02	28	http://192.168.1.100/rpc/sleepmode/run%201
botdream	0:8b3857d4ce02	29
botdream	0:8b3857d4ce02	30	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	31	// resources
botdream	0:8b3857d4ce02	32	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	33	http://mbed.org/handbook/C-Data-Types
botdream	0:8b3857d4ce02	34	http://mbed.org/cookbook/RPC-Interface-Library
botdream	0:8b3857d4ce02	35	http://mbed.org/cookbook/HTTP-Server
botdream	0:8b3857d4ce02	36	http://mbed.org/cookbook/Ethernet
botdream	0:8b3857d4ce02	37	http://mbed.org/handbook/Ticker
botdream	0:8b3857d4ce02	38	//--------------------------------------------------------------------------------------------- */
botdream	0:8b3857d4ce02	39	#include "mbed.h"
botdream	0:8b3857d4ce02	40	#include "EthernetNetIf.h"
botdream	0:8b3857d4ce02	41	#include "HTTPServer.h"
botdream	0:8b3857d4ce02	42	#include "RPCVariable.h"
botdream	0:8b3857d4ce02	43	#include "RPCFunction.h"
botdream	0:8b3857d4ce02	44	#include "A4983.h"
botdream	0:8b3857d4ce02	45	// TListObjects units
botdream	0:8b3857d4ce02	46	#include "TList.h"
botdream	0:8b3857d4ce02	47	#include "TObjects.h"
botdream	0:8b3857d4ce02	48
botdream	0:8b3857d4ce02	49	//#include <memory>
botdream	0:8b3857d4ce02	50	//#include <vector>
botdream	0:8b3857d4ce02	51	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	52	// Defines - remove comments to enable special mode
botdream	0:8b3857d4ce02	53	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	54	#define internaldebug // send debug messages to USB Serial port (9600,1,N)
botdream	0:8b3857d4ce02	55	//#define dhcpenable // auto-setup IP Address from DHCP router
botdream	0:8b3857d4ce02	56	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	57	// Ethernet Object Setup
botdream	0:8b3857d4ce02	58	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	59	#ifdef dhcpenable
botdream	0:8b3857d4ce02	60	EthernetNetIf eth;
botdream	0:8b3857d4ce02	61	#else
botdream	0:8b3857d4ce02	62	/*
botdream	0:8b3857d4ce02	63	EthernetNetIf eth(
botdream	0:8b3857d4ce02	64	IpAddr(192,168,0,100), //IP Address
botdream	0:8b3857d4ce02	65	IpAddr(255,255,255,0), //Network Mask
botdream	0:8b3857d4ce02	66	IpAddr(192,168,0,1), //Gateway - Laptop sharing Internet via 3G
botdream	0:8b3857d4ce02	67	IpAddr(208,67,220,220) //OpenDNS
botdream	0:8b3857d4ce02	68	);
botdream	0:8b3857d4ce02	69	*/
botdream	0:8b3857d4ce02	70	EthernetNetIf eth(
botdream	0:8b3857d4ce02	71	IpAddr(192,168,1,100), //IP Address
botdream	0:8b3857d4ce02	72	IpAddr(255,255,255,0), //Network Mask
botdream	0:8b3857d4ce02	73	IpAddr(192,168,1,254), //Gateway
botdream	0:8b3857d4ce02	74	IpAddr(192,168,1,254) //DNS
botdream	0:8b3857d4ce02	75	);
botdream	0:8b3857d4ce02	76	#endif
botdream	0:8b3857d4ce02	77	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	78	// HTTP Server
botdream	0:8b3857d4ce02	79	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	80	HTTPServer svr;
botdream	0:8b3857d4ce02	81	LocalFileSystem fs("webfs");
botdream	0:8b3857d4ce02	82	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	83	// Misc
botdream	0:8b3857d4ce02	84	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	85
botdream	0:8b3857d4ce02	86	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	87	// Timer Interrupt - NetPool
botdream	0:8b3857d4ce02	88	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	89	Ticker netpool;
botdream	0:8b3857d4ce02	90	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	91	// auxiliar pointer - necessary for the rpc_nsteps(char input, char output) function
botdream	0:8b3857d4ce02	92	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	93	A4983 *p_stepmotor;
botdream	0:8b3857d4ce02	94	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	95	// temporary TList object
botdream	0:8b3857d4ce02	96	TList *pListPointer = NULL;
botdream	0:8b3857d4ce02	97	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	98
botdream	0:8b3857d4ce02	99	bool request_handle = false;
botdream	0:8b3857d4ce02	100
botdream	0:8b3857d4ce02	101	//#############################################################################################
botdream	0:8b3857d4ce02	102
botdream	0:8b3857d4ce02	103	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	104	// Pool Ethernet - will be triggered by netpool ticker
botdream	0:8b3857d4ce02	105	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	106	void netpoolupdate()
botdream	0:8b3857d4ce02	107	{
botdream	0:8b3857d4ce02	108	Net::poll();
botdream	0:8b3857d4ce02	109	}
botdream	0:8b3857d4ce02	110	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	111	// RPC function
botdream	0:8b3857d4ce02	112	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	113	void rpc_nsteps(char input, char output)
botdream	0:8b3857d4ce02	114	{
botdream	0:8b3857d4ce02	115	while(request_handle);
botdream	0:8b3857d4ce02	116
botdream	0:8b3857d4ce02	117	request_handle = true;
botdream	0:8b3857d4ce02	118
botdream	0:8b3857d4ce02	119	int arg1 = 0; // number of steps
botdream	0:8b3857d4ce02	120	sscanf(input, "%i", &arg1);
botdream	0:8b3857d4ce02	121
botdream	0:8b3857d4ce02	122	#ifdef internaldebug
botdream	0:8b3857d4ce02	123	printf("Calling RCP Function Step.\r\n");
botdream	0:8b3857d4ce02	124	printf("INPUT: %s.\r\n", input);
botdream	0:8b3857d4ce02	125	printf("OUTPUT: %s.\r\n", output);
botdream	0:8b3857d4ce02	126	printf("ARG1: %i.\r\n", arg1);
botdream	0:8b3857d4ce02	127	#endif
botdream	0:8b3857d4ce02	128
botdream	0:8b3857d4ce02	129	p_stepmotor->loopstop();
botdream	0:8b3857d4ce02	130	for(int i=0; i<arg1; i++)
botdream	0:8b3857d4ce02	131	{
botdream	0:8b3857d4ce02	132	wait(p_stepmotor->k_delay);
botdream	0:8b3857d4ce02	133	p_stepmotor->singlestep();
botdream	0:8b3857d4ce02	134	}
botdream	0:8b3857d4ce02	135
botdream	0:8b3857d4ce02	136	sprintf(output, "<html><body>RCP NSteps Completed!</body></html>");
botdream	0:8b3857d4ce02	137	request_handle = false;
botdream	0:8b3857d4ce02	138	}
botdream	0:8b3857d4ce02	139	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	140	void rpc_stepmode(char input, char output)
botdream	0:8b3857d4ce02	141	{
botdream	0:8b3857d4ce02	142	while(request_handle);
botdream	0:8b3857d4ce02	143
botdream	0:8b3857d4ce02	144	request_handle = true;
botdream	0:8b3857d4ce02	145
botdream	0:8b3857d4ce02	146	int arg1 = 0; // microstep=1; fullstep=0;
botdream	0:8b3857d4ce02	147	sscanf(input, "%i", &arg1);
botdream	0:8b3857d4ce02	148
botdream	0:8b3857d4ce02	149	#ifdef internaldebug
botdream	0:8b3857d4ce02	150	printf("Calling RCP Function Step Mode.\r\n");
botdream	0:8b3857d4ce02	151	printf("INPUT: %s.\r\n", input);
botdream	0:8b3857d4ce02	152	printf("OUTPUT: %s.\r\n", output);
botdream	0:8b3857d4ce02	153	printf("ARG1: %i.\r\n", arg1);
botdream	0:8b3857d4ce02	154	#endif
botdream	0:8b3857d4ce02	155
botdream	0:8b3857d4ce02	156	if(arg1 == 0)
botdream	0:8b3857d4ce02	157	{
botdream	0:8b3857d4ce02	158	p_stepmotor->adjust_microstepping_mode(1); // full step
botdream	0:8b3857d4ce02	159
botdream	0:8b3857d4ce02	160	#ifdef internaldebug
botdream	0:8b3857d4ce02	161	printf("--> FullStep\r\n");
botdream	0:8b3857d4ce02	162	#endif
botdream	0:8b3857d4ce02	163	}
botdream	0:8b3857d4ce02	164	else
botdream	0:8b3857d4ce02	165	{
botdream	0:8b3857d4ce02	166	p_stepmotor->adjust_microstepping_mode(16); // microstep 1/16
botdream	0:8b3857d4ce02	167
botdream	0:8b3857d4ce02	168	#ifdef internaldebug
botdream	0:8b3857d4ce02	169	printf("--> MicroStep 1/16\r\n");
botdream	0:8b3857d4ce02	170	#endif
botdream	0:8b3857d4ce02	171	}
botdream	0:8b3857d4ce02	172
botdream	0:8b3857d4ce02	173	sprintf(output, "<html><body>RCP Step Mode Completed!</body></html>");
botdream	0:8b3857d4ce02	174	request_handle = false;
botdream	0:8b3857d4ce02	175	}
botdream	0:8b3857d4ce02	176	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	177	void rpc_sleepmode(char input, char output)
botdream	0:8b3857d4ce02	178	{
botdream	0:8b3857d4ce02	179	while(request_handle);
botdream	0:8b3857d4ce02	180
botdream	0:8b3857d4ce02	181	request_handle = true;
botdream	0:8b3857d4ce02	182
botdream	0:8b3857d4ce02	183	int arg1 = 0; // microstep=1; fullstep=0;
botdream	0:8b3857d4ce02	184	sscanf(input, "%i", &arg1);
botdream	0:8b3857d4ce02	185
botdream	0:8b3857d4ce02	186	#ifdef internaldebug
botdream	0:8b3857d4ce02	187	printf("Calling RCP Function Sleep CMD.\r\n");
botdream	0:8b3857d4ce02	188	printf("INPUT: %s.\r\n", input);
botdream	0:8b3857d4ce02	189	printf("OUTPUT: %s.\r\n", output);
botdream	0:8b3857d4ce02	190	printf("ARG1: %i.\r\n", arg1);
botdream	0:8b3857d4ce02	191	#endif
botdream	0:8b3857d4ce02	192
botdream	0:8b3857d4ce02	193	if(arg1 == 1)
botdream	0:8b3857d4ce02	194	p_stepmotor->sleep(true);
botdream	0:8b3857d4ce02	195	else
botdream	0:8b3857d4ce02	196	p_stepmotor->sleep(false);
botdream	0:8b3857d4ce02	197
botdream	0:8b3857d4ce02	198	sprintf(output, "<html><body>RCP Sleep CMD Completed!</body></html>");
botdream	0:8b3857d4ce02	199	request_handle = false;
botdream	0:8b3857d4ce02	200	}
botdream	0:8b3857d4ce02	201	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	202	// RPC TList Commands (Task/Job List)
botdream	0:8b3857d4ce02	203	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	204	void rpc_stepcmd(char input, char output)
botdream	0:8b3857d4ce02	205	{
botdream	0:8b3857d4ce02	206	while(request_handle);
botdream	0:8b3857d4ce02	207
botdream	0:8b3857d4ce02	208	request_handle = true;
botdream	0:8b3857d4ce02	209
botdream	0:8b3857d4ce02	210	int insteps = 0; // number of steps
botdream	0:8b3857d4ce02	211	int ideltatime = 0; // time in ms between Step Motor SPI frames
botdream	0:8b3857d4ce02	212	int idirection = 0; // direction {0->CCW; 1->CW}
botdream	0:8b3857d4ce02	213
botdream	0:8b3857d4ce02	214	sscanf(input, "%i %i %i", &insteps, &ideltatime, &idirection);
botdream	0:8b3857d4ce02	215
botdream	0:8b3857d4ce02	216	#ifdef internaldebug
botdream	0:8b3857d4ce02	217	printf("Calling RCP Function StepCmd.\r\n");
botdream	0:8b3857d4ce02	218	printf("INPUT: %s.\r\n", input);
botdream	0:8b3857d4ce02	219	printf("OUTPUT: %s.\r\n", output);
botdream	0:8b3857d4ce02	220	printf("ARG1: %d\r\n", insteps);
botdream	0:8b3857d4ce02	221	printf("ARG2: %d\r\n", ideltatime);
botdream	0:8b3857d4ce02	222	printf("ARG3: %d\r\n", idirection);
botdream	0:8b3857d4ce02	223	#endif
botdream	0:8b3857d4ce02	224
botdream	0:8b3857d4ce02	225	// adding cmd (TObjectStep) to TList
botdream	0:8b3857d4ce02	226	pListPointer = SetListNextObject();
botdream	0:8b3857d4ce02	227	TObjectStep *pobjectstep = new TObjectStep(insteps, ideltatime, idirection);
botdream	0:8b3857d4ce02	228	pListPointer->cmdtype = 0x01;
botdream	0:8b3857d4ce02	229	pListPointer->cmdobject = (TObjectStep*)pobjectstep;
botdream	0:8b3857d4ce02	230
botdream	0:8b3857d4ce02	231	sprintf(output, "<html><body>RCP Step Cmd Completed!</body></html>");
botdream	0:8b3857d4ce02	232	request_handle = false;
botdream	0:8b3857d4ce02	233	}
botdream	0:8b3857d4ce02	234	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	235
botdream	0:8b3857d4ce02	236
botdream	0:8b3857d4ce02	237	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	238	// MAIN routine
botdream	0:8b3857d4ce02	239	//---------------------------------------------------------------------------------------------
botdream	0:8b3857d4ce02	240	int main()
botdream	0:8b3857d4ce02	241	{
botdream	0:8b3857d4ce02	242	//std::auto_ptr<int>abc;
botdream	0:8b3857d4ce02	243	//std::vector<int>def;
botdream	0:8b3857d4ce02	244	//--------------------------------------------------------
botdream	0:8b3857d4ce02	245	// Setting RPC
botdream	0:8b3857d4ce02	246	//--------------------------------------------------------
botdream	0:8b3857d4ce02	247	/*
botdream	0:8b3857d4ce02	248	Base::add_rpc_class<AnalogIn>();
botdream	0:8b3857d4ce02	249	Base::add_rpc_class<AnalogOut>();
botdream	0:8b3857d4ce02	250	Base::add_rpc_class<DigitalIn>();
botdream	0:8b3857d4ce02	251	Base::add_rpc_class<DigitalOut>();
botdream	0:8b3857d4ce02	252	Base::add_rpc_class<DigitalInOut>();
botdream	0:8b3857d4ce02	253	Base::add_rpc_class<PwmOut>();
botdream	0:8b3857d4ce02	254	Base::add_rpc_class<Timer>();
botdream	0:8b3857d4ce02	255	Base::add_rpc_class<BusOut>();
botdream	0:8b3857d4ce02	256	Base::add_rpc_class<BusIn>();
botdream	0:8b3857d4ce02	257	Base::add_rpc_class<BusInOut>();
botdream	0:8b3857d4ce02	258	Base::add_rpc_class<Serial>(); */
botdream	0:8b3857d4ce02	259
botdream	0:8b3857d4ce02	260	//--------------------------------------------------------
botdream	0:8b3857d4ce02	261	// Setting Ethernet
botdream	0:8b3857d4ce02	262	//--------------------------------------------------------
botdream	0:8b3857d4ce02	263	#ifdef internaldebug
botdream	0:8b3857d4ce02	264	printf("Setting up...\r\n");
botdream	0:8b3857d4ce02	265	#endif
botdream	0:8b3857d4ce02	266	EthernetErr ethErr = eth.setup();
botdream	0:8b3857d4ce02	267	if(ethErr)
botdream	0:8b3857d4ce02	268	{
botdream	0:8b3857d4ce02	269	#ifdef internaldebug
botdream	0:8b3857d4ce02	270	printf("Error %d in setup.\r\n", ethErr);
botdream	0:8b3857d4ce02	271	#endif
botdream	0:8b3857d4ce02	272	return -1;
botdream	0:8b3857d4ce02	273	}
botdream	0:8b3857d4ce02	274	#ifdef internaldebug
botdream	0:8b3857d4ce02	275	printf("Setup OK\r\n");
botdream	0:8b3857d4ce02	276	#endif
botdream	0:8b3857d4ce02	277
botdream	0:8b3857d4ce02	278	//--------------------------------------------------------
botdream	0:8b3857d4ce02	279	// instance of the Step Motor Driver interface
botdream	0:8b3857d4ce02	280	//--------------------------------------------------------
botdream	0:8b3857d4ce02	281	A4983 stepmotor;
botdream	0:8b3857d4ce02	282	p_stepmotor = &stepmotor; // auxiliar pointer for rpc_nsteps(char input, char output);
botdream	0:8b3857d4ce02	283
botdream	0:8b3857d4ce02	284	//--------------------------------------------------------
botdream	0:8b3857d4ce02	285	// adding RPC variables
botdream	0:8b3857d4ce02	286	//--------------------------------------------------------
botdream	0:8b3857d4ce02	287	RPCVariable<uint8_t> RPCenable(&stepmotor.f_motor_enable, "enable");
botdream	0:8b3857d4ce02	288	RPCVariable<uint8_t> RPCdir(&stepmotor.f_motor_direction, "direction");
botdream	0:8b3857d4ce02	289	RPCVariable<float> RPCdelay(&stepmotor.k_delay, "delay");
botdream	0:8b3857d4ce02	290
botdream	0:8b3857d4ce02	291	//--------------------------------------------------------
botdream	0:8b3857d4ce02	292	// adding RPC functions
botdream	0:8b3857d4ce02	293	//--------------------------------------------------------
botdream	0:8b3857d4ce02	294	RPCFunction RPCnsteps(&rpc_nsteps, "nsteps");
botdream	0:8b3857d4ce02	295	RPCFunction RPCsleepmode(&rpc_sleepmode, "sleepmode");
botdream	0:8b3857d4ce02	296	RPCFunction RPCstepmode(&rpc_stepmode, "stepmode");
botdream	0:8b3857d4ce02	297
botdream	0:8b3857d4ce02	298	RPCFunction RPCstepcmd(&rpc_stepcmd, "stepcmd");
botdream	0:8b3857d4ce02	299
botdream	0:8b3857d4ce02	300	//--------------------------------------------------------
botdream	0:8b3857d4ce02	301	// adding Handlers
botdream	0:8b3857d4ce02	302	//--------------------------------------------------------
botdream	0:8b3857d4ce02	303	FSHandler::mount("/webfs", "/files"); //Mount /webfs path on /files web path
botdream	0:8b3857d4ce02	304	FSHandler::mount("/webfs", "/"); //Mount /webfs path on web root path
botdream	0:8b3857d4ce02	305
botdream	0:8b3857d4ce02	306	//svr.addHandler<SimpleHandler>("/hello");
botdream	0:8b3857d4ce02	307	svr.addHandler<RPCHandler>("/rpc");
botdream	0:8b3857d4ce02	308	svr.addHandler<FSHandler>("/files");
botdream	0:8b3857d4ce02	309	svr.addHandler<FSHandler>("/"); //Default handler
botdream	0:8b3857d4ce02	310	//Example : Access to mbed.htm : http://a.b.c.d/mbed.htm or http://a.b.c.d/files/mbed.htm
botdream	0:8b3857d4ce02	311
botdream	0:8b3857d4ce02	312	//--------------------------------------------------------
botdream	0:8b3857d4ce02	313	// bind http server to port 80 (Listen)
botdream	0:8b3857d4ce02	314	//--------------------------------------------------------
botdream	0:8b3857d4ce02	315	svr.bind(80);
botdream	0:8b3857d4ce02	316	#ifdef internaldebug
botdream	0:8b3857d4ce02	317	printf("Listening on port 80 ...\r\n");
botdream	0:8b3857d4ce02	318	#endif
botdream	0:8b3857d4ce02	319
botdream	0:8b3857d4ce02	320	//--------------------------------------------------------
botdream	0:8b3857d4ce02	321	// attach timer interrupt to update Net::Pool();
botdream	0:8b3857d4ce02	322	//--------------------------------------------------------
botdream	0:8b3857d4ce02	323	netpool.attach(&netpoolupdate, 0.1);
botdream	0:8b3857d4ce02	324
botdream	0:8b3857d4ce02	325	//--------------------------------------------------------
botdream	0:8b3857d4ce02	326	// main loop
botdream	0:8b3857d4ce02	327	//--------------------------------------------------------
botdream	0:8b3857d4ce02	328	//stepmotor.f_motor_enable = 1; // used for debug, force motor to star when micro is reset
botdream	0:8b3857d4ce02	329	//stepmotor.k_delay = 0.01;
botdream	0:8b3857d4ce02	330	while(1)
botdream	0:8b3857d4ce02	331	{
botdream	0:8b3857d4ce02	332	stepmotor.looprun();
botdream	0:8b3857d4ce02	333	//stepmotor.singlestep();
botdream	0:8b3857d4ce02	334	}
botdream	0:8b3857d4ce02	335	}
botdream	0:8b3857d4ce02	336	//---------------------------------------------------------------------------------------------

Repository toolbox

Export to desktop IDE

Build repository

Repository details

Type:	Program
Created:	16 Apr 2012
Imports:	25
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	4
Followers:	3

main.cpp@0:8b3857d4ce02, 2012-04-16 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning