Diff: main.cpp

Revision:

11:f243d8ed556d

Parent:

10:0b8a98b1e6b1

Child:

12:8cb20afa1694

--- a/main.cpp	Mon Nov 11 19:01:15 2013 +0000
+++ b/main.cpp	Wed Dec 11 14:54:25 2013 +0000
@@ -1,6 +1,7 @@
 #include "mbed.h"
 #include "Motor.h"
 #include "TextLCD.h"
+#include "PinDetect.h"
 
 #define sensorStartTreshold     0.08
 #define sensorStopTreshold      0.02
@@ -11,12 +12,14 @@
 #define calibrateFactorSenzD    0.9
 
 #define lcdOutputEnable         true
-#define serialOutputEnable      false
-#define serialOutputBaudrate    115200
+#define serialOutputEnable      true
+#define serialOutputBaudrate    9600
 
 Serial pc(USBTX, USBRX);
 TextLCD lcd(p13, p14, p5, p6, p7, p8); // rs, e, d4-d7
 
+Ticker Prikaz;
+
 DigitalOut ledBoot(LED1);
 DigitalOut ledAz(LED3); 
 DigitalOut ledEl(LED4);
@@ -26,10 +29,38 @@
 AnalogIn ainSensC(p18);
 AnalogIn ainSensD(p19);
 
+PinDetect pb_azimut(p11);
+PinDetect pb_elevacija(p12);
+
 float valAzimut = 0;
 float valElevacija = 0;
 
+int volatile count_azimut=0;
+int volatile count_elevacija=0;
+
+
 float SensA, SensB, SensC, SensD;
+
+// Callback routine is interrupt activated by a debounced pb hit
+void pb_azimut_hit_callback (void) {
+    count_azimut++;  
+}
+
+void pb_elevacija_hit_callback (void) {
+    count_elevacija++;
+}
+
+char GetKeyInput(void) {
+    char c = pc.getc();         // get keyboard data (note numerical ascii range)
+    pc.printf("%c",c);           //  print ascii value to host PC terminal
+    return (c&0x0F);            // return value as non-ascii (bitmask c with value 0x0f
+}
+
+void od_prikaza(){
+        lcd.cls();
+        lcd.printf(" %d %d ", count_azimut , count_elevacija); 
+}
+
 void readValuesForAveraging() {
 
     SensA = 0;
@@ -58,10 +89,10 @@
     
     if(serialOutputEnable) {
     
-//    pc.printf("az:%6.3f el:%6.3f :: A:%.3f B:%.3f C:%.3f D:%.3f \n", 
-//            valAzimut, valElevacija, SensA, SensB, SensC, SensD);
+    pc.printf("az:%6.3f el:%6.3f :: A:%.3f B:%.3f C:%.3f D:%.3f \n\r", 
+           valAzimut, valElevacija, SensA, SensB, SensC, SensD);
 
-        pc.printf("az:%6.3f el:%6.3f \n", valAzimut, valElevacija);
+   //     pc.printf("az:%6.3f el:%6.3f \n", valAzimut, valElevacija);
     }
     
     if(lcdOutputEnable) {
@@ -72,10 +103,20 @@
     
 }
 
+char data1, data2;              // variable declarations
 int main() {   
 
     ledBoot = 1;
+     Prikaz.attach(&od_prikaza, 0.1);
+    
+    // Setup Interrupt callback function for a pb hit
+    pb_elevacija.attach_deasserted(&pb_elevacija_hit_callback);
+    pb_azimut.attach_deasserted(&pb_azimut_hit_callback);
+    // Start sampling pb input using interrupts
+    pb_elevacija.setSampleFrequency();
+    pb_azimut.setSampleFrequency();
     pc.baud(serialOutputBaudrate);
+    
     Motor *motorAz = new Motor(p28, p27, p26); // relej, relej, pwm
     Motor *motorEl = new Motor(p24, p23, p25);
     if(lcdOutputEnable) {
@@ -87,7 +128,32 @@
     ledBoot = 0;
 
     while(1) {
-
+    
+    data2 = GetKeyInput();  // call function to get 1st key press
+    switch (data2) {
+    case 0: 
+        (*motorAz).stop();
+        (*motorEl).stop();
+        break;
+    case 1: 
+        (*motorAz).movePositive();
+        break;
+    case 2:
+        (*motorAz).moveNegative();
+        break;
+    case 3:
+        (*motorEl).movePositive();
+        break;
+    case 4:
+        (*motorEl).moveNegative();
+        break;
+    default:
+        (*motorAz).stop();
+        (*motorEl).stop();
+        break;
+     }             
+    
+    /*
 // ---- citanje senzora ------------    
     
         readValuesForAveraging();
@@ -121,10 +187,12 @@
             (*motorEl).stop();
             ledEl = 0;
         }
-        
+        */
 // ----- pauza ------
 
-        wait_ms(100);        
+        
+        //wait_ms(200);  
+        
     }
 }