Diff: main.cpp

Revision:

12:cb92c0183ec9

Parent:

11:f243d8ed556d

diff -r f243d8ed556d -r cb92c0183ec9 main.cpp
--- a/main.cpp	Wed Dec 11 14:54:25 2013 +0000
+++ b/main.cpp	Mon May 26 12:45:54 2014 +0000
@@ -1,7 +1,6 @@
 #include "mbed.h"
 #include "Motor.h"
 #include "TextLCD.h"
-#include "PinDetect.h"
 
 #define sensorStartTreshold     0.08
 #define sensorStopTreshold      0.02
@@ -12,14 +11,12 @@
 #define calibrateFactorSenzD    0.9
 
 #define lcdOutputEnable         true
-#define serialOutputEnable      true
-#define serialOutputBaudrate    9600
+#define serialOutputEnable      false
+#define serialOutputBaudrate    115200
 
 Serial pc(USBTX, USBRX);
 TextLCD lcd(p13, p14, p5, p6, p7, p8); // rs, e, d4-d7
 
-Ticker Prikaz;
-
 DigitalOut ledBoot(LED1);
 DigitalOut ledAz(LED3); 
 DigitalOut ledEl(LED4);
@@ -29,38 +26,10 @@
 AnalogIn ainSensC(p18);
 AnalogIn ainSensD(p19);
 
-PinDetect pb_azimut(p11);
-PinDetect pb_elevacija(p12);
-
 float valAzimut = 0;
 float valElevacija = 0;
 
-int volatile count_azimut=0;
-int volatile count_elevacija=0;
-
-
 float SensA, SensB, SensC, SensD;
-
-// Callback routine is interrupt activated by a debounced pb hit
-void pb_azimut_hit_callback (void) {
-    count_azimut++;  
-}
-
-void pb_elevacija_hit_callback (void) {
-    count_elevacija++;
-}
-
-char GetKeyInput(void) {
-    char c = pc.getc();         // get keyboard data (note numerical ascii range)
-    pc.printf("%c",c);           //  print ascii value to host PC terminal
-    return (c&0x0F);            // return value as non-ascii (bitmask c with value 0x0f
-}
-
-void od_prikaza(){
-        lcd.cls();
-        lcd.printf(" %d %d ", count_azimut , count_elevacija); 
-}
-
 void readValuesForAveraging() {
 
     SensA = 0;
@@ -89,10 +58,10 @@
     
     if(serialOutputEnable) {
     
-    pc.printf("az:%6.3f el:%6.3f :: A:%.3f B:%.3f C:%.3f D:%.3f \n\r", 
-           valAzimut, valElevacija, SensA, SensB, SensC, SensD);
+//    pc.printf("az:%6.3f el:%6.3f :: A:%.3f B:%.3f C:%.3f D:%.3f \n", 
+//            valAzimut, valElevacija, SensA, SensB, SensC, SensD);
 
-   //     pc.printf("az:%6.3f el:%6.3f \n", valAzimut, valElevacija);
+     //   pc.printf("az:%6.3f el:%6.3f \n", valAzimut, valElevacija);
     }
     
     if(lcdOutputEnable) {
@@ -103,20 +72,10 @@
     
 }
 
-char data1, data2;              // variable declarations
 int main() {   
 
     ledBoot = 1;
-     Prikaz.attach(&od_prikaza, 0.1);
-    
-    // Setup Interrupt callback function for a pb hit
-    pb_elevacija.attach_deasserted(&pb_elevacija_hit_callback);
-    pb_azimut.attach_deasserted(&pb_azimut_hit_callback);
-    // Start sampling pb input using interrupts
-    pb_elevacija.setSampleFrequency();
-    pb_azimut.setSampleFrequency();
     pc.baud(serialOutputBaudrate);
-    
     Motor *motorAz = new Motor(p28, p27, p26); // relej, relej, pwm
     Motor *motorEl = new Motor(p24, p23, p25);
     if(lcdOutputEnable) {
@@ -128,32 +87,7 @@
     ledBoot = 0;
 
     while(1) {
-    
-    data2 = GetKeyInput();  // call function to get 1st key press
-    switch (data2) {
-    case 0: 
-        (*motorAz).stop();
-        (*motorEl).stop();
-        break;
-    case 1: 
-        (*motorAz).movePositive();
-        break;
-    case 2:
-        (*motorAz).moveNegative();
-        break;
-    case 3:
-        (*motorEl).movePositive();
-        break;
-    case 4:
-        (*motorEl).moveNegative();
-        break;
-    default:
-        (*motorAz).stop();
-        (*motorEl).stop();
-        break;
-     }             
-    
-    /*
+
 // ---- citanje senzora ------------    
     
         readValuesForAveraging();
@@ -187,12 +121,10 @@
             (*motorEl).stop();
             ledEl = 0;
         }
-        */
+        
 // ----- pauza ------
 
-        
-        //wait_ms(200);  
-        
+        wait_ms(100);        
     }
 }