Diff: main.cpp

Revision:

0:8c408630d916

diff -r 000000000000 -r 8c408630d916 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Apr 21 18:58:08 2022 +0000
@@ -0,0 +1,73 @@
+#include "mbed.h"
+
+Serial pc(PA_2, PA_3);
+BusOut motorCoils(PB_1, PA_7, PA_6, PA_5);
+
+void delayV(uint8_t count){
+    for(unsigned char i=0; i<count; i++){
+        wait(0.005);
+    }
+}
+void step_left(int pause){
+    motorCoils = 0x09;
+    delayV(pause);
+    motorCoils = 0x08;
+    delayV(pause);
+    motorCoils = 0x0C;
+    delayV(pause);
+    motorCoils = 0x04;
+    delayV(pause);
+    motorCoils = 0x06;
+    delayV(pause);
+    motorCoils = 0x02;
+    delayV(pause);
+    motorCoils = 0x03;
+    delayV(pause);
+    motorCoils = 0x01;
+    delayV(pause);
+}
+
+void step_right(int pause){
+    motorCoils = 0x01; //0001
+    delayV(pause);
+    motorCoils = 0x03; //0011
+    delayV(pause);
+    motorCoils = 0x02; //0010
+    delayV(pause);
+    motorCoils = 0x06; //0110
+    delayV(pause);
+    motorCoils = 0x04; //0100
+    delayV(pause);
+    motorCoils = 0x0C; //1100
+    delayV(pause);
+    motorCoils = 0x08; //1000
+    delayV(pause);
+    motorCoils = 0x09; //1001
+    delayV(pause);
+}
+
+uint8_t pause = 15;
+int main(){
+    while(1) {
+        if(pc.readable()){
+            char cmd = pc.getc();
+            switch(cmd){
+                case 's':
+                    step_right(pause);
+                    pc.printf("Stepped right\n");
+                break;
+                
+                case 'r':
+                    step_right(pause);
+                    pc.printf("Rotating right\n");
+                break;
+                
+                case 'l':
+                    step_left(pause);
+                    pc.printf("Rotating left\n");
+                break;
+            }
+        }
+        
+    }
+} 
\ No newline at end of file