Robotic Matrim
Dependencies: PwmIn mbed C12832
main.cpp
- Committer:
- marcepedro
- Date:
- 2018-11-30
- Revision:
- 0:04877eaa5047
File content as of revision 0:04877eaa5047:
#include "mbed.h" #include "PwmIn.h" #include "C12832.h" DigitalOut myled(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4); DigitalOut buzz(p18); DigitalOut rele1(p23); DigitalOut rele2(p24); DigitalOut sobe(p21); DigitalOut desce(p22); C12832 lcd(p5, p7, p6, p8, p11); PwmIn a(p15);//CH1 PwmIn b(p16); //CH2 PwmIn c(p17);//CH3 PwmIn d(p18);//CH4 float t, u, v, w; int main() { lcd.cls(); sobe = 1; desce = 1; rele1 = 1; rele2 = 1; buzz = 0; while(1) { lcd.cls(); t = (a.dutycycle()*100); u = (b.dutycycle()*100); v = (c.dutycycle()*100); w = (d.dutycycle()*100); // printf("a: pw = %f, period = %f\n", a.pulsewidth(), a.period()); if ((u<12)&(u>10)){ lcd.locate(25,0); lcd.printf("u 0"); myled3 = 0; myled4 = 0; sobe = 1; desce = 1; } if (u<10){ lcd.locate(25,0); lcd.printf("u-1"); myled3 = 0; myled4 = 1; desce = 0; sobe = 1; } if (u>12){ lcd.locate(25,0); lcd.printf("u+1"); myled3 = 1; myled4 = 0; sobe = 0; desce = 1; } if ((v<12)&(v>10)){ lcd.locate(0,0); lcd.printf("v 0"); myled = 0; myled2 = 0; rele1 = 1; rele2 = 1; } if (v<10){ lcd.locate(0,0); lcd.printf("v-1"); myled = 1; myled2 = 1; rele2 = 0; rele1 = 0; } if (v>12){ lcd.locate(0,0); lcd.printf("v+1"); myled = 1; myled2 = 0; rele1 = 0; rele2 = 1; } if ((t<12)&(t>10)){ lcd.locate(25,10); lcd.printf("t 0"); } if (t<10){ lcd.locate(25,10); lcd.printf("t-1"); } if (t>12){ lcd.locate(25,10); lcd.printf("t+1"); } if (w>14){ lcd.locate(0,10); lcd.printf("w+1"); buzz = 1; } else { lcd.locate(0,10); lcd.printf("w 0"); buzz = 0; } /* if ((w<12)&(w>10)){ lcd.locate(0,10); lcd.printf("w 0"); } if (w<10){ lcd.locate(0,10); lcd.printf("w-1"); } if (w>12){ lcd.locate(0,10); lcd.printf("w+1"); } */ // lcd.locate(25,10); // lcd.printf("%f",b.dutycycle()); // lcd.printf("pw= %f pd= %f\n", a.pulsewidth(), a.period()); wait(0.1); } }