Diff: pwm-motor.cpp

Revision:

1:a96dd8db5c11

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pwm-motor.cpp	Sun Dec 11 21:58:45 2016 +0000
@@ -0,0 +1,104 @@
+#include "mbed.h"
+#include "motordriver.h"
+#include "pwm-motor.h"
+
+static const char CLS[] = "\x1B[2J";        // VT100 erase screen
+static const char HOME[] = "\x1B[H";        // VT100 home
+
+// in seconds
+static const int move_delay = 0.02;
+
+enum Direction
+{
+    left,
+    right,
+};
+
+struct Movement 
+{
+    public:
+        float start;
+        float stop;
+        float step;
+        float delay;
+        Direction direction;
+        
+        Movement() {}
+    
+        Movement(float startValue, 
+                 float stopValue, 
+                 float stepValue,                  
+                 float delayValue,
+                 Direction dir) : 
+                    start(startValue), 
+                    stop(stopValue), 
+                    step(stepValue), 
+                    delay(delayValue),
+                    direction(dir) {}
+};
+
+Serial pc(USBTX, USBRX);
+
+int main() 
+{
+    clear_screen();
+    show_menu();
+    
+    Motor motor(p21, p15, p17, 1); // PWM, Forward, Reverse, Can break
+    Movement leftMovement(-1.0, 1.0, 0.01, move_delay, left);
+    Movement rightMovement(1.0, -1.0, 0.01, move_delay, right);
+        
+    while (true) 
+    {                  
+        Movement currentMovement;
+        switch(pc.getc()) 
+        {
+            case 'r': 
+                pc.printf("rotating right...\n\r");
+                currentMovement = rightMovement;
+                move(motor, currentMovement);
+                break;
+            case 'l': 
+                pc.printf("rotating left...\n\r");
+                currentMovement = leftMovement;
+                move(motor, currentMovement);
+                break;
+            case 's':
+                pc.printf("stopping motor...\n\r");
+                stop(motor);
+                break;
+        }
+        
+    }
+}   
+
+void clear_screen()
+{
+    pc.printf(CLS);      
+    pc.printf(HOME);               
+}
+
+void show_menu()
+{
+    pc.printf("\rMotor controls:\n\r");
+    pc.printf("l. Move left (counter-clockwise)\n\r");
+    pc.printf("r. Move right (clockwise)\n\r");
+    pc.printf("s. Stop\n\r");
+}
+
+void move(Motor& motor, Movement& movement)
+{    
+    for (float s = movement.start; 
+         movement.direction == left ? s < movement.stop : s > movement.stop;
+         movement.direction == left ? s += movement.step : s -= movement.step)
+    {
+        motor.speed(s); 
+        wait(movement.delay);
+    }
+}
+
+
+void stop(Motor& motor)
+{    
+    motor.stop(0.0);
+}
\ No newline at end of file