File content as of revision 11:f243d8ed556d:

#include "mbed.h"
#include "Motor.h"
#include "TextLCD.h"
#include "PinDetect.h"

#define sensorStartTreshold     0.08
#define sensorStopTreshold      0.02

#define calibrateFactorSenzA    1
#define calibrateFactorSenzB    0.97
#define calibrateFactorSenzC    1.06
#define calibrateFactorSenzD    0.9

#define lcdOutputEnable         true
#define serialOutputEnable      true
#define serialOutputBaudrate    9600

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);

AnalogIn ainSensA(p16);
AnalogIn ainSensB(p17);
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;
    SensB = 0;
    SensC = 0;
    SensD = 0;
    
    for (int i = 0; i < 20; i++) {  
        SensA += ainSensA;
        SensB += ainSensB;
        SensC += ainSensC;
        SensD += ainSensD;
    }
    SensA /= 20;
    SensB /= 20;
    SensC /= 20;
    SensD /= 20;
        
    SensA *= calibrateFactorSenzA;
    SensB *= calibrateFactorSenzB;
    SensC *= calibrateFactorSenzC;
    SensD *= calibrateFactorSenzD;
        
    valAzimut = (SensA + SensB) - (SensC + SensD); 
    valElevacija = (SensB + SensC) - (SensA + SensD);
    
    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 \n", valAzimut, valElevacija);
    }
    
    if(lcdOutputEnable) {
        lcd.cls();
        lcd.printf("a:%5.2f \n", valAzimut);    
        lcd.printf("e:%5.2f \n", valElevacija);    
    }
    
}

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) {
        lcd.cls();
        lcd.printf("Suncokre\n");    
        lcd.printf("t  TVZ  \n");    
    }
    wait_ms(5000);
    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();
        
// ----- azimut -----
        
        if(abs(valAzimut) > sensorStartTreshold) {
            if(valAzimut > 0) 
                (*motorAz).movePositive();
            else
                (*motorAz).moveNegative();
            ledAz = 1;
        }
        
        if(abs(valAzimut) < sensorStopTreshold) {
            (*motorAz).stop();
            ledAz = 0;
        }
        
// ----- elevacija -----

        if(abs(valElevacija) > sensorStartTreshold) {
            if(valElevacija > 0) 
                (*motorEl).movePositive();
            else
                (*motorEl).moveNegative();
            ledEl = 1;
        }
        
        if(abs(valElevacija) < sensorStopTreshold) {
            (*motorEl).stop();
            ledEl = 0;
        }
        */
// ----- pauza ------

        
        //wait_ms(200);  
        
    }
}