Mario Tkalac / Mbed 2 deprecated Lilnija_29012017

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Dependencies:   JoystickLinija IRremote mbed Tipkalo UniServ_linijapogona umotor_linijapogona

main.cpp@1:055ae04a8003, 2017-02-08 (annotated)

Committer:
mario_meh
Date:
Wed Feb 08 08:41:14 2017 +0000
Revision:
1:055ae04a8003
Parent:
0:4cac97044e74 
Debounce tipkalo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mario_meh 1:055ae04a8003 1 /** Projektiranje ugradbenih računalnih sustava
mario_meh 1:055ae04a8003 2 * Interakcija sa linijom
mario_meh 1:055ae04a8003 3 * @author: mario_meh
mario_meh 1:055ae04a8003 4 *
mario_meh 1:055ae04a8003 5 */
mario_meh 0:4cac97044e74 6 #include "mbed.h"
mario_meh 1:055ae04a8003 7 #include "tipkalo.h"
mario_meh 1:055ae04a8003 8 #include "joystick.h"
mario_meh 0:4cac97044e74 9 #include "IRremote.h"
mario_meh 1:055ae04a8003 10 #include "UniServ.h"
mario_meh 1:055ae04a8003 11 #include "umotor.h"
mario_meh 0:4cac97044e74 12
mario_meh 1:055ae04a8003 13 DigitalOut kontrola(PTE29);
mario_meh 0:4cac97044e74 14 Serial serial(USBTX, USBRX); // PC
mario_meh 1:055ae04a8003 15 DigitalOut led(PTB19);
mario_meh 1:055ae04a8003 16 IRrecv pinIn(PTB3); // IR
mario_meh 0:4cac97044e74 17 I2C i2c(PTC9, PTC8); // SDA, SCL
mario_meh 0:4cac97044e74 18 //Tipkalo led(PT); // LED svjetlo
mario_meh 1:055ae04a8003 19 UniServ sMotor(PTB2);
mario_meh 1:055ae04a8003 20 Timer t;
mario_meh 1:055ae04a8003 21 Serial pc(USBTX, USBRX); // tx, rx
mario_meh 1:055ae04a8003 22
mario_meh 0:4cac97044e74 23
mario_meh 0:4cac97044e74 24 const int addr = 0x0A;
mario_meh 1:055ae04a8003 25 char remote[4];
mario_meh 0:4cac97044e74 26
mario_meh 0:4cac97044e74 27 int main() {
mario_meh 1:055ae04a8003 28
mario_meh 0:4cac97044e74 29 //--------------------------------------------------tipke pogona
mario_meh 1:055ae04a8003 30 Tipkalo *bTipka = new Tipkalo();
mario_meh 1:055ae04a8003 31 if(bTipka->LStatus() == true) {
mario_meh 1:055ae04a8003 32 kontrola = 1;
mario_meh 1:055ae04a8003 33 }
mario_meh 1:055ae04a8003 34 if(bTipka->LStatus() == false) {
mario_meh 1:055ae04a8003 35 kontrola = 0;
mario_meh 1:055ae04a8003 36 }
mario_meh 0:4cac97044e74 37
mario_meh 0:4cac97044e74 38 //--------------------------------------------------IR argumenti
mario_meh 1:055ae04a8003 39
mario_meh 1:055ae04a8003 40 //--------------------------------------------------Provjera Servo C90
mario_meh 1:055ae04a8003 41 t.start();
mario_meh 1:055ae04a8003 42 sMotor.write_us(2000);
mario_meh 1:055ae04a8003 43 t.stop();
mario_meh 1:055ae04a8003 44 pc.printf("%f\n\r", t.read());
mario_meh 1:055ae04a8003 45 wait_ms(1000);
mario_meh 1:055ae04a8003 46 t.reset();
mario_meh 1:055ae04a8003 47 t.start();
mario_meh 1:055ae04a8003 48 sMotor.write_us(0);
mario_meh 1:055ae04a8003 49 t.stop();
mario_meh 1:055ae04a8003 50 pc.printf("%f\n\r", t.read());
mario_meh 1:055ae04a8003 51 wait_ms(1000);
mario_meh 1:055ae04a8003 52 t.reset();
mario_meh 1:055ae04a8003 53 t.start();
mario_meh 1:055ae04a8003 54 sMotor.write_us(3000);
mario_meh 1:055ae04a8003 55 t.stop();
mario_meh 1:055ae04a8003 56 pc.printf("%f\n\r", t.read());
mario_meh 1:055ae04a8003 57 wait_ms(1000);
mario_meh 1:055ae04a8003 58 t.reset();
mario_meh 1:055ae04a8003 59 t.start();
mario_meh 1:055ae04a8003 60 sMotor.write_us(1000);
mario_meh 1:055ae04a8003 61 t.stop();
mario_meh 1:055ae04a8003 62 pc.printf("%f\n\r", t.read());
mario_meh 1:055ae04a8003 63 wait_ms(1000);
mario_meh 1:055ae04a8003 64 sMotor.Disable();
mario_meh 1:055ae04a8003 65 //-------------------------------------------------Gotovo Provjera Servo C90
mario_meh 1:055ae04a8003 66
mario_meh 1:055ae04a8003 67 //--------------------------------------------------Unipolarni steper
mario_meh 1:055ae04a8003 68 Steper *unipolar = new Steper();
mario_meh 1:055ae04a8003 69
mario_meh 1:055ae04a8003 70 unipolar->u_poz.u_krenuo = 1; // Treba biti 1(0)
mario_meh 1:055ae04a8003 71 unipolar->u_poz.u_stao = 0; // Treba biti 0(1)
mario_meh 1:055ae04a8003 72 unipolar->Brzina(4000); // < brzina = brze i krace
mario_meh 1:055ae04a8003 73 unipolar->UEnable(); // Pokreni umotor
mario_meh 1:055ae04a8003 74 //--------------------------------------------------Gotovo Unipolarni steper
mario_meh 1:055ae04a8003 75
mario_meh 1:055ae04a8003 76 //-------------------------------------------------- IR Receiver
mario_meh 0:4cac97044e74 77 pinIn.enableIRIn(); // Start the receiver
mario_meh 0:4cac97044e74 78 decode_results results;
mario_meh 0:4cac97044e74 79
mario_meh 0:4cac97044e74 80 int IR_REMOTE = 1;
mario_meh 0:4cac97044e74 81
mario_meh 0:4cac97044e74 82 while(IR_REMOTE == 1) {
mario_meh 0:4cac97044e74 83 if (pinIn.decode(&results)) {
mario_meh 0:4cac97044e74 84 uint32_t value = results.value;
mario_meh 0:4cac97044e74 85 remote[0] = (value);
mario_meh 0:4cac97044e74 86 remote[1] = (value) >> 8;
mario_meh 0:4cac97044e74 87 remote[2] = (value) >> 16;
mario_meh 0:4cac97044e74 88 remote[3] = (value) >> 24;
mario_meh 0:4cac97044e74 89
mario_meh 0:4cac97044e74 90 i2c.write(addr,remote, 4);
mario_meh 0:4cac97044e74 91 pinIn.resume(); // Receive the next value
mario_meh 0:4cac97044e74 92 }
mario_meh 0:4cac97044e74 93 wait(0.1);
mario_meh 0:4cac97044e74 94 }
mario_meh 0:4cac97044e74 95 //-----------------------------------------------------gotov iR
mario_meh 0:4cac97044e74 96
mario_meh 0:4cac97044e74 97 //------------------------------------------isprobavam joystick
mario_meh 0:4cac97044e74 98 // Pozovi Joystick
mario_meh 0:4cac97044e74 99
mario_meh 1:055ae04a8003 100 JoysKompas *data = new JoysKompas;
mario_meh 1:055ae04a8003 101 Joystick *joys = new Joystick(data);
mario_meh 1:055ae04a8003 102 joys->YEnable();
mario_meh 1:055ae04a8003 103
mario_meh 1:055ae04a8003 104 while(1) {
mario_meh 1:055ae04a8003 105 switch(data->vertikala) {
mario_meh 0:4cac97044e74 106 case 0:
mario_meh 1:055ae04a8003 107 serial.printf("Gore: %i\r\n", data->vertikala);
mario_meh 0:4cac97044e74 108 break;
mario_meh 0:4cac97044e74 109 case 1:
mario_meh 1:055ae04a8003 110 serial.printf("Dolje: %i\r\n", data->vertikala);
mario_meh 0:4cac97044e74 111 break;
mario_meh 1:055ae04a8003 112 }
mario_meh 1:055ae04a8003 113
mario_meh 0:4cac97044e74 114 }
mario_meh 1:055ae04a8003 115
mario_meh 0:4cac97044e74 116 //----------------------------------------------gotov joystick
mario_meh 0:4cac97044e74 117
mario_meh 0:4cac97044e74 118 //-----------------------------------------------------svjetlo
mario_meh 0:4cac97044e74 119 //led = 1;
mario_meh 0:4cac97044e74 120 //-------------------------------------------------end svjetlo
mario_meh 0:4cac97044e74 121
mario_meh 1:055ae04a8003 122 }