ddd

Dependencies:   a4998ss mbed

Fork of whouse by Keegan Hu

main.cpp

Committer:
glintligo
Date:
2018-05-11
Revision:
3:09f6061e6e5d
Parent:
2:ecf401a37aa3
Child:
4:d66b6f331b74

File content as of revision 3:09f6061e6e5d:

#include "mbed.h"
#include "Stepper_motor.h"
#include "robo.h"
Serial Info(PB_10,PB_11);
Ticker t1;
void serial_ticker();//蓝牙串口中断函数
// puma black
/*Stepper_motor s1(PB_9,PB_0,PB_7,PA_11,10,16,1);
Stepper_motor s2(PB_6,PA_7,PB_4,PA_15,10,16,1);
Stepper_motor s3(PB_3,PA_6,PA_12,PB_1,10,16,1);
*/
//                en  step  dir button 减速比 细分数 初始方向
Stepper_motor s1(PA_6,PC_5,PC_4,PB_14,10,16,0);//x  puma white
Stepper_motor s2(PA_2,PA_5,PA_4,PC_6,10,16,1);//y
Stepper_motor s3(PC_13,PC_3,PC_2,PB_15,10,16,0);//z
//PwmOut pwm2(PA_1);
//DigitalOut button(PA_0);

float moterXdeg, moterYdeg, moterZdeg;
int main()
{ 
    {//初始化
        Info.attach(&serial_ticker);
        s1.Init();
        wait(5);
        s2.Init();
        wait(5);
        s3.Init();
        wait(5);
    }
    
    {//计算电机角度
     moterXdeg = 1;
     moterYdeg = 2;
     moterZdeg = 3; 
     //Info.printf("moterXdeg:%f moterYdeg:%f moterZdeg:%f\n",moterXdeg, moterYdeg,moterZdeg);  
    }
    
    {   //运动
        /*若转动的角度为-1 则会一直转,此时rec_rate需大于0
         * 除此之外,若转动角度或转速小于0,则电机反转
         * 如在电机尚未停止前再次调用该函数,则会立刻开始新的电机运动
         */
        s1.Config(5,moterXdeg);
        //wait(5);
        //如果运动出现bug,可将上方注释去掉
        s2.Config(5,moterYdeg);
        //wait(5);
        s3.Config(5,moterZdeg);
        //wait(5);
        }
    while(1)
    {
   
 
    }
}

void serial_ticker()
{
    
}