Diff: SomeTest.cpp

Revision:

2:99785a1007a4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SomeTest.cpp	Tue Jun 07 05:26:03 2016 +0000
@@ -0,0 +1,164 @@
+#include "SomeTest.h"
+#include "mbed.h"
+
+extern DigitalOut myled;
+Ticker myTicker;
+Ticker myTicker1;
+Serial mpc(P0_4,P0_0);
+#if 0
+#include "RollPitch.h"
+
+extern MPU6050 mpu;
+extern Timer g_Timer;
+
+float ypr[3];             //Yaw,Pitch,Roll三个轴的角度值
+void testMPU6050(void)
+{
+    mpc.baud(115200);
+    bool ret = dmpSetup();
+    if (ret == true) {
+        mpc.printf("dmp ready\r\n");
+    } else {
+        mpc.printf("dmp not ready\r\n");
+    }
+    dmpGetYPR(ypr);
+    mpc.printf("ypr[0] = %f, ypr[1] = %f, ypr[2] = %f\r\n", ypr[0], ypr[1], ypr[2]);
+    while (1) {
+        wait(0.5);
+        dmpGetYPR(ypr);
+        mpc.printf("ypr[0] = %f, ypr[1] = %f, ypr[2] = %f\r\n", ypr[0], ypr[1], ypr[2]);
+#if 0
+        if (mpu.testConnection() == true)
+            mpc.printf("connect ok\r\n");
+#endif
+    }
+}
+#endif
+
+static void flip()
+{
+    static uint32_t c = 0;
+    c++;
+    if ((c % 2000) == 0) {
+        myled = !myled;
+    }
+}
+void testTicker(void)
+{
+    myTicker.attach_us(&flip, 25);
+    while (1) {}
+}
+#if 0
+#define PIN_EN      4      //PORTB,0
+#define PIN_DIRA    A0    //PORTA,7
+#define PIN_STEPA   5   //PORTB,1
+#define PIN_DIRB    A1    //PORTA,6
+#define PIN_STEPB   6   //PORTB,2
+#define PIN_DIRC    A2    //PORTA,5
+#define PIN_STEPC   7   //PORTB,3
+#define PIN_DIRD    A3    //PORTA,4
+#define PIN_STEPD   8   //PORTD,6
+#else
+#define PIN_EN      P0_25
+#define PIN_DIRA    P0_7
+#define PIN_STEPA   P0_24
+
+#define PIN_DIRB    P0_6
+#define PIN_STEPB   P0_1
+
+#define PIN_DIRC    P0_14
+#define PIN_STEPC   P0_20
+#define PIN_DIRD    P0_23
+#define PIN_STEPD   P0_19
+#endif
+#if 0
+//Stepper stepperL(PIN_DIRB, PIN_STEPB);              //左电机，使用stepper底板A接口
+//Stepper stepperR(PIN_DIRA, PIN_STEPA);              //右电机，使用stepper底板D接口
+DigitalOut LdirB(PIN_DIRB);
+DigitalOut LstepB(PIN_STEPB);
+DigitalOut RdirB(PIN_DIRA);
+DigitalOut RstepB(PIN_STEPA);
+DigitalOut SteperE(PIN_EN);
+static void timeHandle_left(void)
+{
+    //LstepB = !LstepB;
+    LstepB = 1;
+    wait_us(1);
+    LstepB = 0;
+}
+
+static void timeHandle_right(void)
+{
+    //LstepB = !LstepB;
+    RstepB = 1;
+    wait_us(1);
+    RstepB = 0;
+}
+
+void testStepper(void)
+{
+    SteperE = 1;
+    LdirB = 0;
+    RdirB = 0;
+    LstepB = 0;
+    RstepB = 0;
+    myTicker.attach_us(&timeHandle_left, 510);
+    myTicker1.attach_us(&timeHandle_right, 2500);
+    SteperE = 0;
+    while (1) {}
+}
+#endif
+
+#if 0
+DigitalOut SteperE(PIN_EN);
+DigitalOut Rdir(PIN_DIRA);
+PwmOut rstep(PIN_STEPA);//P0_24, D5
+#if 1
+DigitalOut Ldir(PIN_DIRB);
+PwmOut lstep(PIN_STEPB);//P0_1, D6
+#endif
+
+void testStepper1(void)
+{
+    int widthL = 1;
+    int widthR = 1;
+    int period = 410; // 2500Hz
+    myled = 0;
+    SteperE = 0;
+    
+    Rdir = 1;
+    rstep.period_us(period);
+    rstep.pulsewidth_us(widthR);
+    
+    #if 1
+    Ldir = 1;
+    lstep.period_us(period);
+    lstep.pulsewidth_us(widthL);
+    #endif
+    
+    //wait(2.0);
+    //SteperE = 0;
+    while (1) {
+        #if 0
+        wait(0.1);
+        widthR += 50;
+        if (widthR >= 1500) {
+            widthR = 0;
+        }
+        rstep.pulsewidth_us(widthR);
+        
+        widthL += 50;
+        if (widthL >= 500) {
+            widthL = 0;
+        }
+        lstep.pulsewidth_us(widthL);
+        #else
+        period += 20;
+        lstep.period_us(period);
+        rstep.period_us(period);
+        //myled = !myled;
+        wait(0.5);
+        #endif
+    }
+}
+#endif
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