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main.cpp
- Committer:
- jack1930
- Date:
- 2022-01-17
- Revision:
- 0:d7ad0916857f
- Child:
- 1:f3303de6e057
File content as of revision 0:d7ad0916857f:
/* mbed Microcontroller Library * Copyright (c) 2019 ARM Limited * SPDX-License-Identifier: Apache-2.0 */ #include "mbed.h" #include "LCD.h" lcd mylcd; PwmOut greifer(PC_7); PwmOut heber(PB_3); PwmOut schwenker(PB_4); PwmOut dreher(PB_9); PortOut saft(PortC,0b01100110); AnalogIn poti(PA_0); int main() { float wg,wg0=140,wg1=100,ag; float wh,wh0=90,wh1=90,ah; float ws,ws0=90,ws1=90,as; float wd,wd0=90,wd1=90,ad; int schritte=50; saft=0b01100110; greifer.period_ms(20); heber.period_ms(20); schwenker.period_ms(20); dreher.period_ms(20); HAL_Delay(100); greifer=0.025+(wg0/180.0)*0.1; heber=0.025+(wh0/180.0)*0.1; schwenker=0.025+(ws0/180.0)*0.1; dreher=0.025+(wd0/180.0)*0.1; mylcd.clear(); while (true) { mylcd.cursorpos(0); mylcd.printf("Schritt 0"); schritte=50; wg1=180; wh1=90; ws1=70; wd1=150; ag=(wg1-wg0)/schritte; ah=(wh1-wh0)/schritte; as=(ws1-ws0)/schritte; ad=(wd1-wd0)/schritte; for (float i=0;i<schritte;i++) { wg=ag*i+wg0; wh=ah*i+wh0; ws=as*i+ws0; wd=ad*i+wd0; greifer=0.025+(wg/180.0)*0.1; heber=0.025+(wh/180.0)*0.1; schwenker=0.025+(ws/180.0)*0.1; dreher=0.025+(wd/180.0)*0.1; HAL_Delay(20); } wg0=wg1; wh0=wh1; ws0=ws1; wd0=wd1; mylcd.cursorpos(0); mylcd.printf("Schritt 1"); wg1=100; wh1=110; ws1=70; wd1=150; ag=(wg1-wg0)/schritte; ah=(wh1-wh0)/schritte; as=(ws1-ws0)/schritte; ad=(wd1-wd0)/schritte; for (float i=0;i<schritte;i++) { wg=ag*i+wg0; wh=ah*i+wh0; ws=as*i+ws0; wd=ad*i+wd0; greifer=0.025+(wg/180.0)*0.1; heber=0.025+(wh/180.0)*0.1; schwenker=0.025+(ws/180.0)*0.1; dreher=0.025+(wd/180.0)*0.1; HAL_Delay(20); } wg0=wg1; wh0=wh1; ws0=ws1; wd0=wd1; mylcd.cursorpos(0); mylcd.printf("Schritt 2"); wg1=180; wh1=110; ws1=70; wd1=150; ag=(wg1-wg0)/schritte; ah=(wh1-wh0)/schritte; as=(ws1-ws0)/schritte; ad=(wd1-wd0)/schritte; for (float i=0;i<schritte;i++) { wg=ag*i+wg0; wh=ah*i+wh0; ws=as*i+ws0; wd=ad*i+wd0; greifer=0.025+(wg/180.0)*0.1; heber=0.025+(wh/180.0)*0.1; schwenker=0.025+(ws/180.0)*0.1; dreher=0.025+(wd/180.0)*0.1; HAL_Delay(20); } wg0=wg1; wh0=wh1; ws0=ws1; wd0=wd1; mylcd.cursorpos(0); mylcd.printf("Schritt 3"); wg1=180; wh1=60; ws1=100; wd1=150; ag=(wg1-wg0)/schritte; ah=(wh1-wh0)/schritte; as=(ws1-ws0)/schritte; ad=(wd1-wd0)/schritte; for (float i=0;i<schritte;i++) { wg=ag*i+wg0; wh=ah*i+wh0; ws=as*i+ws0; wd=ad*i+wd0; greifer=0.025+(wg/180.0)*0.1; heber=0.025+(wh/180.0)*0.1; schwenker=0.025+(ws/180.0)*0.1; dreher=0.025+(wd/180.0)*0.1; HAL_Delay(20); } wg0=wg1; wh0=wh1; ws0=ws1; wd0=wd1; mylcd.cursorpos(0); mylcd.printf("Schritt 4"); wg1=180; wh1=30; ws1=100; wd1=30; ag=(wg1-wg0)/schritte; ah=(wh1-wh0)/schritte; as=(ws1-ws0)/schritte; ad=(wd1-wd0)/schritte; for (float i=0;i<schritte;i++) { wg=ag*i+wg0; wh=ah*i+wh0; ws=as*i+ws0; wd=ad*i+wd0; greifer=0.025+(wg/180.0)*0.1; heber=0.025+(wh/180.0)*0.1; schwenker=0.025+(ws/180.0)*0.1; dreher=0.025+(wd/180.0)*0.1; HAL_Delay(20); } wg0=wg1; wh0=wh1; ws0=ws1; wd0=wd1; mylcd.cursorpos(0); mylcd.printf("Schritt 5"); wg1=120; wh1=30; ws1=100; wd1=30; ag=(wg1-wg0)/schritte; ah=(wh1-wh0)/schritte; as=(ws1-ws0)/schritte; ad=(wd1-wd0)/schritte; for (float i=0;i<schritte;i++) { wg=ag*i+wg0; wh=ah*i+wh0; ws=as*i+ws0; wd=ad*i+wd0; greifer=0.025+(wg/180.0)*0.1; heber=0.025+(wh/180.0)*0.1; schwenker=0.025+(ws/180.0)*0.1; dreher=0.025+(wd/180.0)*0.1; HAL_Delay(20); } wg0=wg1; wh0=wh1; ws0=ws1; wd0=wd1; mylcd.cursorpos(0); mylcd.printf("Schritt 6"); wg1=100; wh1=60; ws1=100; wd1=30; ag=(wg1-wg0)/schritte; ah=(wh1-wh0)/schritte; as=(ws1-ws0)/schritte; ad=(wd1-wd0)/schritte; for (float i=0;i<schritte;i++) { wg=ag*i+wg0; wh=ah*i+wh0; ws=as*i+ws0; wd=ad*i+wd0; greifer=0.025+(wg/180.0)*0.1; heber=0.025+(wh/180.0)*0.1; schwenker=0.025+(ws/180.0)*0.1; dreher=0.025+(wd/180.0)*0.1; HAL_Delay(20); } wg0=wg1; wh0=wh1; ws0=ws1; wd0=wd1; } }