Michael Dushkoff / Mbed 2 deprecated RaceTimer

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Dependencies:   mMotor mbed

main.cpp@4:ef3904a7f2f8, 2013-05-13 (annotated)

Committer:
mdu7078
Date:
Mon May 13 16:22:38 2013 +0000
Revision:
4:ef3904a7f2f8
Parent:
3:6be11b32f35f 
Finished state.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mdu7078 0:372aa18dd17d 1 /* * * * * * * * * * * * * * * * * * * * * * * * * * *
mdu7078 0:372aa18dd17d 2 * This times a race with up to two separate timers *
mdu7078 0:372aa18dd17d 3 * which start whenever a button press interrupt is *
mdu7078 0:372aa18dd17d 4 * detected. The timers are stopped only by *
mdu7078 0:372aa18dd17d 5 * recording a tripwire interrupt which will save *
mdu7078 0:372aa18dd17d 6 * the time and output it to the serial port. *
mdu7078 0:372aa18dd17d 7 * *
mdu7078 0:372aa18dd17d 8 * Created by: Michael Dushkoff (mad1841@rit.edu) *
mdu7078 0:372aa18dd17d 9 * * * * * * * * * * * * * * * * * * * * * * * * * * */
mdu7078 0:372aa18dd17d 10
mdu7078 0:372aa18dd17d 11 #include "mbed.h"
mdu7078 1:244a23186799 12 #include "mMotor.h"
mdu7078 0:372aa18dd17d 13
mdu7078 0:372aa18dd17d 14 /* Stepper motor constants, (change based on motor) */
mdu7078 3:6be11b32f35f 15 int step_speed = 5000; // set default motor speed 4000 (fast) 5000 (natural)
mdu7078 3:6be11b32f35f 16 int numstep1 = 30; // Defines rising turn (200)
mdu7078 3:6be11b32f35f 17 int numstep2 = 30; // Defines falling turn (20)
mdu7078 3:6be11b32f35f 18
mdu7078 3:6be11b32f35f 19 DigitalOut txo(p30); //Defines the transmit pin output
mdu7078 0:372aa18dd17d 20
mdu7078 0:372aa18dd17d 21 /* Create two stepper motor controllers */
mdu7078 1:244a23186799 22 mMotor mt1(p33, p34, p35, p36);
mdu7078 1:244a23186799 23 mMotor mt2(p11, p12, p13, p14);
mdu7078 0:372aa18dd17d 24
mdu7078 0:372aa18dd17d 25 /* Create two individual timers */
mdu7078 0:372aa18dd17d 26 Timer t1;
mdu7078 0:372aa18dd17d 27 Timer t2;
mdu7078 0:372aa18dd17d 28
mdu7078 0:372aa18dd17d 29 /* Interrupt sensors */
mdu7078 0:372aa18dd17d 30 InterruptIn bInt1(p23);
mdu7078 0:372aa18dd17d 31 InterruptIn bInt2(p24);
mdu7078 0:372aa18dd17d 32
mdu7078 0:372aa18dd17d 33 /* Indicator LEDs */
mdu7078 0:372aa18dd17d 34 DigitalOut iled1(LED1);
mdu7078 0:372aa18dd17d 35 DigitalOut iled2(LED4);
mdu7078 0:372aa18dd17d 36 DigitalOut tled1(LED2); //Timer LED1
mdu7078 0:372aa18dd17d 37 DigitalOut tled2(LED3); //Timer LED2
mdu7078 0:372aa18dd17d 38
mdu7078 0:372aa18dd17d 39 /* Tells when to stop the timer */
mdu7078 0:372aa18dd17d 40 int end1 = 0;
mdu7078 0:372aa18dd17d 41 int end2 = 0;
mdu7078 0:372aa18dd17d 42
mdu7078 0:372aa18dd17d 43 /* This is a print button that allows the time to be outputted */
mdu7078 0:372aa18dd17d 44 DigitalIn button(p8);
mdu7078 0:372aa18dd17d 45
mdu7078 0:372aa18dd17d 46 /* Rise detection */
mdu7078 0:372aa18dd17d 47 int rise = 0;
mdu7078 0:372aa18dd17d 48
mdu7078 3:6be11b32f35f 49 /* Setup detection */
mdu7078 3:6be11b32f35f 50 int setup = 1;
mdu7078 0:372aa18dd17d 51
mdu7078 3:6be11b32f35f 52 void transmit(){
mdu7078 3:6be11b32f35f 53 txo = 0;
mdu7078 3:6be11b32f35f 54 wait(0.01);
mdu7078 3:6be11b32f35f 55 txo = 1;
mdu7078 3:6be11b32f35f 56 wait(0.01);
mdu7078 3:6be11b32f35f 57 txo = 0;
mdu7078 3:6be11b32f35f 58 wait(0.01);
mdu7078 3:6be11b32f35f 59 txo = 1;
mdu7078 0:372aa18dd17d 60 }
mdu7078 0:372aa18dd17d 61
mdu7078 0:372aa18dd17d 62 /* This detects button interrupt 1 */
mdu7078 0:372aa18dd17d 63 void b1(){
mdu7078 3:6be11b32f35f 64 if (setup == 0){
mdu7078 3:6be11b32f35f 65 mt1.step(numstep2,0,step_speed);
mdu7078 3:6be11b32f35f 66 transmit();
mdu7078 3:6be11b32f35f 67 setup = 1;
mdu7078 0:372aa18dd17d 68 }
mdu7078 0:372aa18dd17d 69 }
mdu7078 0:372aa18dd17d 70
mdu7078 0:372aa18dd17d 71 /* This detects button interrupt 2 */
mdu7078 0:372aa18dd17d 72 void b2(){
mdu7078 3:6be11b32f35f 73 if (setup == 1){
mdu7078 3:6be11b32f35f 74 mt1.step(numstep1,1,step_speed);
mdu7078 3:6be11b32f35f 75 setup = 0;
mdu7078 0:372aa18dd17d 76 }
mdu7078 0:372aa18dd17d 77 }
mdu7078 0:372aa18dd17d 78
mdu7078 0:372aa18dd17d 79 int main() {
mdu7078 3:6be11b32f35f 80 /* Drive transmit pin */
mdu7078 3:6be11b32f35f 81 txo = 1;
mdu7078 3:6be11b32f35f 82
mdu7078 3:6be11b32f35f 83 /* Put into setup mode */
mdu7078 3:6be11b32f35f 84 setup = 1;
mdu7078 3:6be11b32f35f 85
mdu7078 3:6be11b32f35f 86 /* Turn LEDs on */
mdu7078 3:6be11b32f35f 87 iled1 = 1;
mdu7078 3:6be11b32f35f 88 iled2 = 1;
mdu7078 3:6be11b32f35f 89 tled1 = 1;
mdu7078 3:6be11b32f35f 90 tled2 = 1;
mdu7078 3:6be11b32f35f 91
mdu7078 1:244a23186799 92 printf("Starting up...\n\r");
mdu7078 1:244a23186799 93
mdu7078 3:6be11b32f35f 94 /* Attach interrupt service routine to pins */
mdu7078 3:6be11b32f35f 95 bInt1.rise(&b1);
mdu7078 3:6be11b32f35f 96 bInt2.rise(&b2);
mdu7078 3:6be11b32f35f 97
mdu7078 0:372aa18dd17d 98 /* Set the LEDs off */
mdu7078 0:372aa18dd17d 99 iled1 = 0;
mdu7078 0:372aa18dd17d 100 iled2 = 0;
mdu7078 0:372aa18dd17d 101 tled1 = 0;
mdu7078 0:372aa18dd17d 102 tled2 = 0;
mdu7078 0:372aa18dd17d 103
mdu7078 3:6be11b32f35f 104 setup = 1;
mdu7078 0:372aa18dd17d 105
mdu7078 1:244a23186799 106 printf("Ready!\n\r");
mdu7078 0:372aa18dd17d 107 while(1) {
mdu7078 3:6be11b32f35f 108 // Do nothing
mdu7078 0:372aa18dd17d 109 }
mdu7078 0:372aa18dd17d 110 }