Dependencies:
LCD_i2c_GSOE
Diff: main.cpp
- Revision:
- 0:d7ad0916857f
- Child:
- 1:f3303de6e057
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jan 17 15:55:17 2022 +0000
@@ -0,0 +1,242 @@
+/* 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;
+ }
+}