main.cpp

00001 /* * * * * * * * * * * * * * * * * * * * * * * * * * *
00002  * This times a race with up to two separate timers  *
00003  * which start whenever a button press interrupt is  *
00004  * detected.  The timers are stopped only by         *
00005  * recording a tripwire interrupt which will save    *
00006  * the time and output it to the serial port.        *
00007  *                                                   *
00008  * Created by: Michael Dushkoff (mad1841@rit.edu)    *
00009  * * * * * * * * * * * * * * * * * * * * * * * * * * */
00010  
00011 #include "mbed.h"
00012 #include "mMotor.h"
00013 
00014 /* Stepper motor constants, (change based on motor) */
00015 int step_speed = 5000; // set default motor speed 4000 (fast) 5000 (natural)
00016 int numstep1 = 30; // Defines rising turn (200)
00017 int numstep2 = 30;  // Defines falling turn (20)
00018 
00019 DigitalOut txo(p30);  //Defines the transmit pin output
00020 
00021 /* Create two stepper motor controllers */
00022 mMotor mt1(p33, p34, p35, p36);
00023 mMotor mt2(p11, p12, p13, p14);
00024 
00025 /* Create two individual timers */
00026 Timer t1;
00027 Timer t2;
00028 
00029 /* Interrupt sensors */
00030 InterruptIn bInt1(p23);
00031 InterruptIn bInt2(p24);
00032 
00033 /* Indicator LEDs */
00034 DigitalOut iled1(LED1);
00035 DigitalOut iled2(LED4);
00036 DigitalOut tled1(LED2); //Timer LED1
00037 DigitalOut tled2(LED3); //Timer LED2
00038 
00039 /* Tells when to stop the timer */
00040 int end1 = 0;
00041 int end2 = 0;
00042 
00043 /* This is a print button that allows the time to be outputted */
00044 DigitalIn button(p8);
00045 
00046 /* Rise detection */
00047 int rise = 0;
00048 
00049 /* Setup detection */
00050 int setup = 1;
00051 
00052 void transmit(){
00053     txo = 0;
00054     wait(0.01);
00055     txo = 1;
00056     wait(0.01);
00057     txo = 0;
00058     wait(0.01);
00059     txo = 1;
00060 }
00061 
00062 /* This detects button interrupt 1 */
00063 void b1(){
00064     if (setup == 0){
00065         mt1.step(numstep2,0,step_speed);
00066         transmit();
00067         setup = 1;
00068     }
00069 }
00070 
00071 /* This detects button interrupt 2 */
00072 void b2(){
00073     if (setup == 1){
00074         mt1.step(numstep1,1,step_speed);
00075         setup = 0;
00076     }
00077 }
00078 
00079 int main() {
00080     /* Drive transmit pin */
00081     txo = 1;
00082     
00083     /* Put into setup mode */
00084     setup = 1;
00085     
00086     /* Turn LEDs on */
00087     iled1 = 1;
00088     iled2 = 1;
00089     tled1 = 1;
00090     tled2 = 1;
00091     
00092     printf("Starting up...\n\r");
00093     
00094     /* Attach interrupt service routine to pins */
00095     bInt1.rise(&b1);
00096     bInt2.rise(&b2);
00097     
00098     /* Set the LEDs off */
00099     iled1 = 0;
00100     iled2 = 0;
00101     tled1 = 0;
00102     tled2 = 0;
00103     
00104     setup = 1;
00105     
00106     printf("Ready!\n\r");
00107     while(1) {
00108         // Do nothing
00109     }
00110 }