Diff: main.cpp

Revision:

4:72727d4c1d72

Parent:

2:2e93c305bb62

Child:

5:486d0a696705

--- a/main.cpp	Thu Jun 23 12:43:49 2016 +0000
+++ b/main.cpp	Thu Jul 14 22:49:36 2016 +0000
@@ -1,4 +1,17 @@
 #include "mbed.h"
+# define ON  1
+# define OFF 0
+
+////////////////********Definitions***********///////
+DigitalIn sw3(PTA4);
+
+DigitalOut led_red(LED_RED);
+DigitalOut led_green(LED_GREEN);
+DigitalOut led_blue(LED_BLUE);
+
+InterruptIn sw2(SW2);
+
+Timer debounce; // define debounce timer
 
 
 Serial pc(USBTX,USBRX);            // tx,rx
@@ -6,49 +19,70 @@
 DigitalOut in2(PTC2);
 PwmOut     ena(PTA2);
 
+
 DigitalOut in3(PTD1);
 DigitalOut in4(PTD2);
 PwmOut     enb(PTD3);
 
-void rxInterrupt(){
-}
+///////////****Prototype Functions*******//////////
+void stop1(void);
+void turnRight1(void);
+void turnLeft1(void);
+void toggle(void); // function prototype
+
+///////////////////////////////////////////////////
+
 int main()
 
 {
-pc.baud(115200);
-pc.attach(&rxInterrupt);
+debounce.start();
+ena.period(1.0/10000.0);// 5Khz period
+ sw2.rise(&turnRight1); // attach the address of the toggle
+ sw2.fall(&stop1);
+//pc.baud(115200);
+
     while (true) {
-    /////******MOTOR 1****////
-        // Detiene el motor
-        in1 = 0; 
-        in2 = 0;
-        wait(0.5f);
-        // Gira en sentido 1 con velocidad 50%
-        in1 = 1;
-        in2 = 0;
-        ena.write(0.50f);
-        wait(0.5f);
-        // Gira en sentido 2 con velocidad 100%
-        in1 = 0;
-        in2 = 1;
-        ena.write(1.00f);
-        wait(0.5f);
+        
+        sw2.rise(&turnRight1); // attach the address of the toggle
+        sw2.fall(&stop1);
         
-    /////******MOTOR 2****////
-      /* in3 = 0; 
-        in4 = 0;
-        wait(0.5f);
-        // Gira en sentido 1 con velocidad 50%
-        in3 = 1;
-        in4 = 0;
-        ena.write(0.50f);
-        wait(0.5f);
-        // Gira en sentido 2 con velocidad 100%
-        in3 = 0;
-        in4 = 1;
-        ena.write(1.00f);
-        wait(0.5f);*/
-        pc.printf("MOTOR Funcionando\n");
-        
+       /* if (sw3 == ON){
+           led_red = ON;
+            turnRight1();
+            ena.write(0.50f);
+         }
+        else{
+            led_red = OFF;
+            stop1();
+            wait(0.5f);
+            }*/
+    
     }
+}
+
+///////////////***********FUNCTIONS***********************//////////////
+void stop1(void) {
+  //led_red = ON;
+  in1 = OFF; 
+  in2 = OFF;
+  //wait(0.5f);
+}
+
+void turnRight1(void) {
+   // led_red = ON; 
+    in1 = ON;
+    in2 = OFF;   
+
+}
+
+void turnLeft1() {
+    led_blue = ON;
+    in1 = OFF;
+    in2 = ON;      
+}
+
+void toggle() {
+if (debounce.read_ms()>200) // only allow toggle if debounce timer
+led_red=!led_red; // has passed 200 ms
+ debounce.reset(); // restart timer when the toggle is performed
 }
\ No newline at end of file