Keegan Hu / Mbed 2 deprecated whouse

dfd

Dependencies:   stepper mbed

Fork of puma_test by Keegan Hu

main.cpp@3:09f6061e6e5d, 2018-05-11 (annotated)

Committer:
glintligo
Date:
Fri May 11 10:42:09 2018 +0000
Revision:
3:09f6061e6e5d
Parent:
2:ecf401a37aa3 
???

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Bilybill 0:2e00b81c9137 1 #include "mbed.h"
Bilybill 0:2e00b81c9137 2 #include "Stepper_motor.h"
Bilybill 0:2e00b81c9137 3 #include "robo.h"
Bilybill 0:2e00b81c9137 4 Serial Info(PB_10,PB_11);
Bilybill 0:2e00b81c9137 5 Ticker t1;
glintligo 3:09f6061e6e5d 6 void serial_ticker();//蓝牙串口中断函数
glintligo 3:09f6061e6e5d 7 // puma black
glintligo 2:ecf401a37aa3 8 /*Stepper_motor s1(PB_9,PB_0,PB_7,PA_11,10,16,1);
Bilybill 0:2e00b81c9137 9 Stepper_motor s2(PB_6,PA_7,PB_4,PA_15,10,16,1);
Bilybill 0:2e00b81c9137 10 Stepper_motor s3(PB_3,PA_6,PA_12,PB_1,10,16,1);
glintligo 2:ecf401a37aa3 11 */
glintligo 2:ecf401a37aa3 12 // en step dir button 减速比 细分数 初始方向
glintligo 3:09f6061e6e5d 13 Stepper_motor s1(PA_6,PC_5,PC_4,PB_14,10,16,0);//x puma white
glintligo 2:ecf401a37aa3 14 Stepper_motor s2(PA_2,PA_5,PA_4,PC_6,10,16,1);//y
glintligo 2:ecf401a37aa3 15 Stepper_motor s3(PC_13,PC_3,PC_2,PB_15,10,16,0);//z
glintligo 3:09f6061e6e5d 16 //PwmOut pwm2(PA_1);
glintligo 3:09f6061e6e5d 17 //DigitalOut button(PA_0);
glintligo 2:ecf401a37aa3 18
glintligo 3:09f6061e6e5d 19 float moterXdeg, moterYdeg, moterZdeg;
Bilybill 0:2e00b81c9137 20 int main()
glintligo 3:09f6061e6e5d 21 {
glintligo 3:09f6061e6e5d 22 {//初始化
glintligo 3:09f6061e6e5d 23 Info.attach(&serial_ticker);
glintligo 3:09f6061e6e5d 24 s1.Init();
glintligo 3:09f6061e6e5d 25 wait(5);
glintligo 3:09f6061e6e5d 26 s2.Init();
glintligo 3:09f6061e6e5d 27 wait(5);
glintligo 3:09f6061e6e5d 28 s3.Init();
glintligo 3:09f6061e6e5d 29 wait(5);
glintligo 3:09f6061e6e5d 30 }
glintligo 3:09f6061e6e5d 31
glintligo 3:09f6061e6e5d 32 {//计算电机角度
glintligo 3:09f6061e6e5d 33 moterXdeg = 1;
glintligo 3:09f6061e6e5d 34 moterYdeg = 2;
glintligo 3:09f6061e6e5d 35 moterZdeg = 3;
glintligo 3:09f6061e6e5d 36 //Info.printf("moterXdeg:%f moterYdeg:%f moterZdeg:%f\n",moterXdeg, moterYdeg,moterZdeg);
glintligo 3:09f6061e6e5d 37 }
glintligo 3:09f6061e6e5d 38
glintligo 3:09f6061e6e5d 39 { //运动
glintligo 3:09f6061e6e5d 40 /*若转动的角度为-1 则会一直转，此时rec_rate需大于0
glintligo 3:09f6061e6e5d 41 * 除此之外，若转动角度或转速小于0，则电机反转
glintligo 3:09f6061e6e5d 42 * 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
glintligo 3:09f6061e6e5d 43 */
glintligo 3:09f6061e6e5d 44 s1.Config(5,moterXdeg);
glintligo 3:09f6061e6e5d 45 //wait(5);
glintligo 3:09f6061e6e5d 46 //如果运动出现bug,可将上方注释去掉
glintligo 3:09f6061e6e5d 47 s2.Config(5,moterYdeg);
glintligo 3:09f6061e6e5d 48 //wait(5);
glintligo 3:09f6061e6e5d 49 s3.Config(5,moterZdeg);
glintligo 3:09f6061e6e5d 50 //wait(5);
glintligo 3:09f6061e6e5d 51 }
glintligo 2:ecf401a37aa3 52 while(1)
glintligo 2:ecf401a37aa3 53 {
glintligo 2:ecf401a37aa3 54
glintligo 3:09f6061e6e5d 55
glintligo 3:09f6061e6e5d 56 }
Bilybill 0:2e00b81c9137 57 }
glintligo 3:09f6061e6e5d 58
glintligo 3:09f6061e6e5d 59 void serial_ticker()
glintligo 3:09f6061e6e5d 60 {
glintligo 3:09f6061e6e5d 61
glintligo 3:09f6061e6e5d 62 }