Diff: main.cpp

Revision:

34:215d5ee0f434

Parent:

33:c1cefad6d338

--- a/main.cpp	Sun Sep 15 08:47:18 2019 +0000
+++ b/main.cpp	Tue Oct 01 10:42:23 2019 +0000
@@ -1,15 +1,17 @@
 #include "mbed.h"
 #include "L6208.h"
+#include "pitches.h"
+#include "MIDI.h"
 
 #define VREFA_PWM_PIN D3
 #define VREFB_PWM_PIN D9
-#define BAUDRATE 9600
-#define JOINT 2
+
+
 l6208_init_t init =
 {
-  8000,            //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
+  65000,            //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
   80,              //Acceleration current torque in % (from 0 to 100)
-  8000,            //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
+  65000,            //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
   80,              //Deceleration current torque in % (from 0 to 100)
   8000,            //Running speed in step/s or (1/16)th step/s for microstep modes
   80,              //Running current torque in % (from 0 to 100)
@@ -21,7 +23,8 @@
   100000           //VREFA and VREFB PWM frequency (Hz)
 };
 
-
+unsigned long motorSpeeds[] = {0, 0, 0, 0, 0};
+int flag=0;
 // Utility
 //InterruptIn button(USER_BUTTON);
 DigitalOut led(LED1);
@@ -31,96 +34,31 @@
 
 InterruptIn end1(USER_BUTTON, PullUp);
 DigitalIn end0(PA_5, PullUp);
-Serial serial(PA_2, PA_3); 
 
-
-
-float pose, current_pose;
-float speed, current_speed;
-void zero()
+    
+MIDI MIDI(PA_2, PA_3);
+  
+void handleNoteOn(byte channel, byte pitch, byte velocity) //MIDI Note ON Command
 {
-  printf("zero");
-  motor->run(StepperMotor::BWD);
-  while(!end0){
-  }
-  motor->hard_stop();
-  motor->set_home();
-  motor->go_to(0);
-  printf("END0: Pressed\n\rPOSITION: %d\n\r", motor->get_position());
-}
-
-void motor_error_handler(uint16_t error)
-{
-  printf("ERROR: Motor Runtime\n\r");
   
-}
-
-void end1_int_handler()
-{
-  // motor->hard_stop();
-  
-  motor->run(StepperMotor::FWD);
-  
-  printf("END1: Pressed\n\rPOSITION: %d\n\r", motor->get_position());
+  motorSpeeds[channel] = pitchVals[pitch]/4; //set the motor speed to specified pitch
+ 
 }
 
-
-void serialrx()
+void handleNoteOff(byte channel, byte pitch, byte velocity) //MIDI Note OFF Command
 {
-
-  int id, speed;
-  
-  
-    if(serial.readable() ) 
-    {
-      serial.scanf("%d %d", &id, &speed );
-      printf("%d %d\n", id, speed);
-      if (id==JOINT)
-      {
-        led=!led;
-        current_speed=speed;
-      }
-    
-    
-  }
+  motorSpeeds[channel] = 0; //set motor speed to zero
+  flag=!flag;
 }
-  
-  void fmotor()
-  {
-  
-      
-      if (current_speed>0)
-      {
-        printf("run FWD\n");
-        motor->set_max_speed(abs(current_speed*80));
-        motor->run(StepperMotor::BWD);
-      }
-      else if (current_speed<0)
-      {
-        printf("run BWD\n");
-        motor->set_max_speed(abs(current_speed*80));
-        motor->run(StepperMotor::FWD);
-      }
-      
-      else
-      {
-        motor->hard_stop();
-        current_pose= motor->get_position();
-        motor->go_to(current_pose);
-      }
-      
-      
-      
-    
-  }
-  
-  
   /* Main ----------------------------------------------------------------------*/
   
   int main()
   {
     led=1;
-    serial.baud(BAUDRATE);
+    
+    MIDI.begin(MIDI_CHANNEL_OMNI); //listen to all MIDI channels
+    MIDI.setHandleNoteOn(handleNoteOn); //execute function when note on message is recieved
+    MIDI.setHandleNoteOff(handleNoteOff); //execute function when note off message is recieved
     
     // Motor Initialization
     motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN);
@@ -130,24 +68,27 @@
       printf("ERROR: vvMotor Init\n\r");
       exit(EXIT_FAILURE);
     }
-    
-    motor->attach_error_handler(&motor_error_handler);
-    
-    
-   // end1.rise(&end1_int_handler);
+
     
-    printf("DONE: Motor Init\n\r");
-    
-    
+    printf("DONE: Motor Init\n\r"); 
     printf("Running!\n\r");
-    
-    //zero();
-    
+     
     while(true)
     {
-      serialrx();
-      //wait (0.001);
-      fmotor();
+      MIDI.read();
+      if(motorSpeeds[0]==0)
+        motor->hard_stop();
+      else
+      {
+        
+        motor->set_max_speed(motorSpeeds[0]);
+        if (flag==1)
+        motor->run(StepperMotor::BWD);
+        else
+        motor->run(StepperMotor::FWD);
+        
+       
       
-    }
-  }
\ No newline at end of file
+      }
+  }
+}
\ No newline at end of file