Diff: main.cpp

Revision:

1:0165e226b5af

Parent:

0:3a3b03651663

--- a/main.cpp	Tue Jul 22 02:24:31 2014 +0000
+++ b/main.cpp	Wed Jul 23 01:16:43 2014 +0000
@@ -4,26 +4,29 @@
 DigitalOut l2(LED2);
 DigitalOut l3(LED3);
 
-PwmOut uH(p21);
+PwmOut uH(p21);//high side 
 PwmOut vH(p22);
 PwmOut wH(p23);
 
-PwmOut uL(p24);
+PwmOut uL(p24);//low side
 PwmOut vL(p25);
 PwmOut wL(p26);
 
-InterruptIn u(p16);
+InterruptIn u(p16);//hole sensor
 InterruptIn v(p17);
 InterruptIn w(p18);
 
-int p;
+Serial pc(USBTX,USBRX);
+
+int p,dir;
 float period = 1;
 float pulse = period / 10;
 
 void mode(int);
-void out(int,int,int,int,int,int);
+void out(float,float,float,float,float,float);
 void A();void B();void C();
 void D();void E();void F();
+void LED(int,int,int);
 
 void init(){
     u.mode(PullUp);
@@ -45,18 +48,21 @@
     wL.pulsewidth_us(pulse);
 
     p = 0;//start
+    dir = 0;// 0/1 <=> CW/CCW
 }
 
 int main() {
     init();
+    u.rise(&A);
+    w.fall(&B);
+    v.rise(&C);
+    u.fall(&D);
+    w.rise(&E);
+    v.fall(&F);
     while(1) {
-        u.rise(&A);
-        w.fall(&B);
-        v.rise(&C);
-        u.fall(&D);
-        w.rise(&E);
-        v.fall(&F);
         mode(p);
+        //wait_us(1);
+        //pc.printf("%d\n",p);
     }
     return 0;
 }
@@ -65,44 +71,70 @@
     switch(p){
         case 0:
             out(1,1,1,0,0,0);
+            LED(1,1,1);
             break;
         case 1:
             out(0,1,1,0,1,0);
+            LED(1,0,0);
             break;
         case 2:
             out(0,1,1,0,0,1);
+            LED(1,0,0);
             break;
         case 3:
             out(1,0,1,0,0,1);
+            LED(0,1,0);
             break;
         case 4:
             out(1,0,1,1,0,0);
+            LED(0,1,0);
             break;
         case 5:
             out(1,1,0,1,0,0);
+            LED(0,0,1);
             break;
         case 6:
             out(1,1,0,0,1,0);
+            LED(0,0,1);
             break;
         default:
             out(1,1,1,0,0,0);
+            LED(0,0,0);
             break;
     }
 }
 
-void out(int uh,int vh,int wh,int ul,int vl,int wl){
+void out(float uh,float vh,float wh,float ul,float vl,float wl){
     uL.write(ul);
     vL.write(vl);
-    wL.write(vl);
+    wL.write(wl);
     uH.write(uh);
     vH.write(vh);
     wH.write(wh);
 }
 
-void A(){p = 1;}
-void B(){p = 2;}
-void C(){p = 3;}
-void D(){p = 4;}
-void E(){p = 5;}
-void F(){p = 6;}
+void LED(int i,int ii,int iii){
+    l1 = i;
+    l2 = ii;
+    l3 = iii;
+} 
+
+void A(){
+    if(dir == 0)p = 1;
+    else p = 3;}
+void B(){
+    if(dir == 0)p = 2;
+    else p = 4;}
+void C(){
+    if(dir == 0)p = 3;
+    else p = 5;}
+void D(){
+    if(dir == 0)p = 4;
+    else p = 6;}
+void E(){
+    if(dir == 0)p = 5;
+    else p = 1;}
+void F(){
+    if(dir == 0)p = 6;
+    else p = 2;}
     
\ No newline at end of file