Diff: main.cpp

Revision:

0:4db26ffb591c

Child:

2:e9fbdcb1ee8f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 28 15:50:53 2021 +0000
@@ -0,0 +1,90 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2019 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "mbed.h"
+#include "platform/mbed_thread.h"
+#include "Kanal.h"
+
+
+
+// Blinking rate in milliseconds
+#define BLINKING_RATE_MS                                                    50
+
+Kanal Greifer(0);
+Kanal Basis(1);
+Kanal Oberarm(2);
+
+
+struct position
+{
+    float w[6];
+    int ms;
+};
+
+position schritt[3];
+
+
+int main()
+{
+    
+    Kanal* achse[6];
+    for (int i=0;i<6;i++) achse[i]=new Kanal(i);
+    int dtc=0;
+    // Initialise the digital pin LED1 as an output
+    DigitalOut led(LED1);
+    schritt[0].w[0]=0;
+    schritt[0].w[1]=0;
+    schritt[0].w[2]=0;
+    schritt[0].w[3]=0;
+    schritt[0].w[4]=0;
+    schritt[0].w[5]=0;
+    schritt[0].ms=1000;
+    
+    schritt[1].w[0]=180;
+    schritt[1].w[1]=90;
+    schritt[1].w[2]=180;
+    schritt[1].w[3]=90;
+    schritt[1].w[4]=180;
+    schritt[1].w[5]=90;
+    schritt[1].ms=500;
+
+    schritt[2].w[0]=90;
+    schritt[2].w[1]=180;
+    schritt[2].w[2]=90;
+    schritt[2].w[3]=180;
+    schritt[2].w[4]=90;
+    schritt[2].w[5]=180;
+    schritt[2].ms=500;
+    while (true) {
+        led = !led;
+        for (int j=0;j<3;j++)
+        {
+            for (int i=0;i<6;i++)
+            {
+                achse[i]->go(schritt[j].w[i],schritt[j].ms);
+            }
+            for (int i=0;i<6;i++)
+            {
+                while(achse[i]->isBusy());
+            }            
+        }
+        /*
+        Greifer.go(180,1000);
+        Basis.go(90,1000);
+        Oberarm.go(0,1000);
+        while (Greifer.isBusy()==true);
+        while (Basis.isBusy()==true);
+        while (Oberarm.isBusy()==true);
+        //HAL_Delay(2000);
+        Greifer.go(0,500);
+        Basis.go(0,500);
+        Oberarm.go(120,500);
+        //HAL_Delay(1000);
+        while (Greifer.isBusy()==true);
+        while (Basis.isBusy()==true);
+        while (Oberarm.isBusy()==true);
+        */
+    }
+}