Diff: main.cpp

Revision:

7:ac67f44120a5

Parent:

6:902bec57d9ae

Child:

8:4044ae40bbc1

--- a/main.cpp	Mon Nov 11 11:45:55 2013 +0000
+++ b/main.cpp	Mon Nov 11 13:14:10 2013 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
 #include "Motor.h"
+#include "TextLCD.h"
 
 #define sensorStartTreshold     0.05
 #define sensorStopTreshold      0.01
@@ -9,10 +10,16 @@
 #define calibrateFactorSenzC    1.06
 #define calibrateFactorSenzD    0.9
 
-#define serialOutputEnable      true
+#define lcdOutputEnable         true
+#define serialOutputEnable      false
 #define serialOutputBaudrate    115200
 
 Serial pc(USBTX, USBRX);
+TextLCD lcd(p15, p16, p5, p6, p7, p8); // rs, e, d4-d7
+
+DigitalOut ledBoot(LED1);
+DigitalOut ledAz(LED3);
+DigitalOut ledEl(LED4);
 
 AnalogIn ainSensA(p17);
 AnalogIn ainSensB(p18);
@@ -56,27 +63,25 @@
 
         pc.printf("az:%6.3f el:%6.3f \n", valAzimut, valElevacija);
     }
+    
+    if(lcdOutputEnable) {
+        lcd.cls();
+        lcd.printf("a:%6.3f \n", valAzimut);    
+    }
+    
 }
 
 int main() {
 
+    ledBoot = 1;
     pc.baud(serialOutputBaudrate);
-
     Motor *motorAz = new Motor(p25, p26, p24);
     Motor *motorEl = new Motor(p22, p21, p23);
+    wait_ms(500);
+    ledBoot = 0;
 
     while(1) {
-    
-        (*motorEl).movePositive();
-        (*motorAz).movePositive();
-        wait(5);
-        (*motorAz).moveNegative();
-        (*motorEl).moveNegative();
-        wait(3);
-        continue;
-
-    
-    
+        
         readValuesForAveraging();
         
 // ----- azimut -----
@@ -86,10 +91,12 @@
                 (*motorAz).movePositive();
             else
                 (*motorAz).moveNegative();
+            ledAz = 1;
         }
         
         if(abs(valAzimut) < sensorStopTreshold) {
             (*motorAz).stop();
+            ledAz = 0;
         }
         
 // ----- elevacija -----
@@ -99,15 +106,17 @@
                 (*motorEl).movePositive();
             else
                 (*motorEl).moveNegative();
+            ledEl = 1;
         }
         
         if(abs(valElevacija) < sensorStopTreshold) {
             (*motorEl).stop();
+            ledEl = 0;
         }
         
 // ----- pauza ------
 
-        wait_ms(100);        
+        wait_ms(200);        
     }
 }