Martin Werluschnig / Mbed 2 deprecated Diplomarbeit_MW_CW

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Dependencies:   mbed

main.cpp

Committer:
martwerl
Date:
2018-10-17
Revision:
0:afeca64a6543
Child:
1:ff38e3bad33a

File content as of revision 0:afeca64a6543:


#include "MMouse18.h"
#include "Serial_HL.h"

SerialBLK pc(USBTX, USBRX);
// SerialBLK pc(p28, p27);
SvProtocol ua0(&pc);

void CommandHandler();
void CheckButton();

Motor mL(p22,p24,p23); Motor mR(p26, p21, p25);
Encoder encL(p15,p16); Encoder encR(p30,p29);

DigitalIn sw(p5);

BusOut leds(LED1,LED2,LED3,LED4);

int main(void)
{
    pc.format(8,SerialBLK::None,1);
    pc.baud(115200);
    mL.SetPow(0); mR.SetPow(0);
    encL.Init(ENC_A,ENC_RISE); encR.Init(ENC_A,ENC_RISE);
    
    ua0.SvMessage("MotTest1"); 
    
    Timer stw;
    stw.start();
    while(1) {
        CheckButton();
        CommandHandler();  
        if( stw.read_ms()>10 ) { 
            stw.reset();
            if( ua0.acqON ) {
                ua0.WriteSvI16(1, encL.cnt);
                ua0.WriteSvI16(2, encR.cnt);
            }
        }
    }
    return 1;
}

void CommandHandler()
{
    uint8_t cmd;
    if( !pc.IsDataAvail() )
        return;
    cmd = ua0.GetCommand();
    if( cmd==2 ) {
        mL.SetPow(ua0.ReadF()); mR.SetPow(ua0.ReadF());
        ua0.SvMessage("Set Pow");
    }
    if( cmd==3 ) {
        encL.cnt=encR.cnt=0;
        ua0.SvMessage("Reset Cnt");
    }
}

void CheckButton()
{
    if( sw==1 )
        leds=0xF;
    else
        leds=0;
}