Lehrer Busch / Mbed OS xxx_Motorino_Lib

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Dependencies:   eeprom_intern LCD_i2c_GSOE MotorinoLib

main.cpp@0:4db26ffb591c, 2021-09-28 (annotated)

Committer:
jack1930
Date:
Tue Sep 28 15:50:53 2021 +0000
Revision:
0:4db26ffb591c
Child:
2:e9fbdcb1ee8f
Version 1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jack1930 0:4db26ffb591c 1 /* mbed Microcontroller Library
jack1930 0:4db26ffb591c 2 * Copyright (c) 2019 ARM Limited
jack1930 0:4db26ffb591c 3 * SPDX-License-Identifier: Apache-2.0
jack1930 0:4db26ffb591c 4 */
jack1930 0:4db26ffb591c 5
jack1930 0:4db26ffb591c 6 #include "mbed.h"
jack1930 0:4db26ffb591c 7 #include "platform/mbed_thread.h"
jack1930 0:4db26ffb591c 8 #include "Kanal.h"
jack1930 0:4db26ffb591c 9
jack1930 0:4db26ffb591c 10
jack1930 0:4db26ffb591c 11
jack1930 0:4db26ffb591c 12 // Blinking rate in milliseconds
jack1930 0:4db26ffb591c 13 #define BLINKING_RATE_MS 50
jack1930 0:4db26ffb591c 14
jack1930 0:4db26ffb591c 15 Kanal Greifer(0);
jack1930 0:4db26ffb591c 16 Kanal Basis(1);
jack1930 0:4db26ffb591c 17 Kanal Oberarm(2);
jack1930 0:4db26ffb591c 18
jack1930 0:4db26ffb591c 19
jack1930 0:4db26ffb591c 20 struct position
jack1930 0:4db26ffb591c 21 {
jack1930 0:4db26ffb591c 22 float w[6];
jack1930 0:4db26ffb591c 23 int ms;
jack1930 0:4db26ffb591c 24 };
jack1930 0:4db26ffb591c 25
jack1930 0:4db26ffb591c 26 position schritt[3];
jack1930 0:4db26ffb591c 27
jack1930 0:4db26ffb591c 28
jack1930 0:4db26ffb591c 29 int main()
jack1930 0:4db26ffb591c 30 {
jack1930 0:4db26ffb591c 31
jack1930 0:4db26ffb591c 32 Kanal* achse[6];
jack1930 0:4db26ffb591c 33 for (int i=0;i<6;i++) achse[i]=new Kanal(i);
jack1930 0:4db26ffb591c 34 int dtc=0;
jack1930 0:4db26ffb591c 35 // Initialise the digital pin LED1 as an output
jack1930 0:4db26ffb591c 36 DigitalOut led(LED1);
jack1930 0:4db26ffb591c 37 schritt[0].w[0]=0;
jack1930 0:4db26ffb591c 38 schritt[0].w[1]=0;
jack1930 0:4db26ffb591c 39 schritt[0].w[2]=0;
jack1930 0:4db26ffb591c 40 schritt[0].w[3]=0;
jack1930 0:4db26ffb591c 41 schritt[0].w[4]=0;
jack1930 0:4db26ffb591c 42 schritt[0].w[5]=0;
jack1930 0:4db26ffb591c 43 schritt[0].ms=1000;
jack1930 0:4db26ffb591c 44
jack1930 0:4db26ffb591c 45 schritt[1].w[0]=180;
jack1930 0:4db26ffb591c 46 schritt[1].w[1]=90;
jack1930 0:4db26ffb591c 47 schritt[1].w[2]=180;
jack1930 0:4db26ffb591c 48 schritt[1].w[3]=90;
jack1930 0:4db26ffb591c 49 schritt[1].w[4]=180;
jack1930 0:4db26ffb591c 50 schritt[1].w[5]=90;
jack1930 0:4db26ffb591c 51 schritt[1].ms=500;
jack1930 0:4db26ffb591c 52
jack1930 0:4db26ffb591c 53 schritt[2].w[0]=90;
jack1930 0:4db26ffb591c 54 schritt[2].w[1]=180;
jack1930 0:4db26ffb591c 55 schritt[2].w[2]=90;
jack1930 0:4db26ffb591c 56 schritt[2].w[3]=180;
jack1930 0:4db26ffb591c 57 schritt[2].w[4]=90;
jack1930 0:4db26ffb591c 58 schritt[2].w[5]=180;
jack1930 0:4db26ffb591c 59 schritt[2].ms=500;
jack1930 0:4db26ffb591c 60 while (true) {
jack1930 0:4db26ffb591c 61 led = !led;
jack1930 0:4db26ffb591c 62 for (int j=0;j<3;j++)
jack1930 0:4db26ffb591c 63 {
jack1930 0:4db26ffb591c 64 for (int i=0;i<6;i++)
jack1930 0:4db26ffb591c 65 {
jack1930 0:4db26ffb591c 66 achse[i]->go(schritt[j].w[i],schritt[j].ms);
jack1930 0:4db26ffb591c 67 }
jack1930 0:4db26ffb591c 68 for (int i=0;i<6;i++)
jack1930 0:4db26ffb591c 69 {
jack1930 0:4db26ffb591c 70 while(achse[i]->isBusy());
jack1930 0:4db26ffb591c 71 }
jack1930 0:4db26ffb591c 72 }
jack1930 0:4db26ffb591c 73 /*
jack1930 0:4db26ffb591c 74 Greifer.go(180,1000);
jack1930 0:4db26ffb591c 75 Basis.go(90,1000);
jack1930 0:4db26ffb591c 76 Oberarm.go(0,1000);
jack1930 0:4db26ffb591c 77 while (Greifer.isBusy()==true);
jack1930 0:4db26ffb591c 78 while (Basis.isBusy()==true);
jack1930 0:4db26ffb591c 79 while (Oberarm.isBusy()==true);
jack1930 0:4db26ffb591c 80 //HAL_Delay(2000);
jack1930 0:4db26ffb591c 81 Greifer.go(0,500);
jack1930 0:4db26ffb591c 82 Basis.go(0,500);
jack1930 0:4db26ffb591c 83 Oberarm.go(120,500);
jack1930 0:4db26ffb591c 84 //HAL_Delay(1000);
jack1930 0:4db26ffb591c 85 while (Greifer.isBusy()==true);
jack1930 0:4db26ffb591c 86 while (Basis.isBusy()==true);
jack1930 0:4db26ffb591c 87 while (Oberarm.isBusy()==true);
jack1930 0:4db26ffb591c 88 */
jack1930 0:4db26ffb591c 89 }
jack1930 0:4db26ffb591c 90 }