Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

main.cpp@0:0b7259fdb68a, 2016-03-24 (annotated)

Committer:
phairero
Date:
Thu Mar 24 11:01:18 2016 +0000
Revision:
0:0b7259fdb68a
Child:
1:8b0322a353f4
This program tests the motor.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
phairero 0:0b7259fdb68a 1 #include "mbed.h"
phairero 0:0b7259fdb68a 2 #include "time.h"
phairero 0:0b7259fdb68a 3
phairero 0:0b7259fdb68a 4 Timer timer;
phairero 0:0b7259fdb68a 5 PwmOut mypwm(PB_0);
phairero 0:0b7259fdb68a 6 DigitalOut dir1(PC_0);
phairero 0:0b7259fdb68a 7 DigitalOut dir2(PC_1);
phairero 0:0b7259fdb68a 8 InterruptIn encA(PA_0);
phairero 0:0b7259fdb68a 9 InterruptIn bt(USER_BUTTON);
phairero 0:0b7259fdb68a 10 Serial pc(SERIAL_TX, SERIAL_RX);
phairero 0:0b7259fdb68a 11
phairero 0:0b7259fdb68a 12 int iLoe = 0;
phairero 0:0b7259fdb68a 13 int isItTime = 0;
phairero 0:0b7259fdb68a 14 int iUus = 0;
phairero 0:0b7259fdb68a 15 int iAeg = 0;
phairero 0:0b7259fdb68a 16 //int iVan[2] = {0,0};
phairero 0:0b7259fdb68a 17 double dPwm = 0.01;
phairero 0:0b7259fdb68a 18 int lastB= bt;
phairero 0:0b7259fdb68a 19
phairero 0:0b7259fdb68a 20 void start(){
phairero 0:0b7259fdb68a 21 iUus = timer.read_us();
phairero 0:0b7259fdb68a 22 timer.reset();
phairero 0:0b7259fdb68a 23 }
phairero 0:0b7259fdb68a 24 void stop(){
phairero 0:0b7259fdb68a 25 iAeg = timer.read_us();
phairero 0:0b7259fdb68a 26 }
phairero 0:0b7259fdb68a 27
phairero 0:0b7259fdb68a 28 void button(){
phairero 0:0b7259fdb68a 29 isItTime = 1;
phairero 0:0b7259fdb68a 30 }
phairero 0:0b7259fdb68a 31
phairero 0:0b7259fdb68a 32 int main(){
phairero 0:0b7259fdb68a 33 encA.rise(&start);
phairero 0:0b7259fdb68a 34 encA.fall(&stop);
phairero 0:0b7259fdb68a 35 bt.fall(&button);
phairero 0:0b7259fdb68a 36 timer.start();
phairero 0:0b7259fdb68a 37 mypwm.write(dPwm);
phairero 0:0b7259fdb68a 38 //mypwm.period_ms(10);
phairero 0:0b7259fdb68a 39 //mypwm.pulsewidth_ms(4);
phairero 0:0b7259fdb68a 40 dir1 = 1;
phairero 0:0b7259fdb68a 41 dir2 = 0;
phairero 0:0b7259fdb68a 42
phairero 0:0b7259fdb68a 43 while(1) {
phairero 0:0b7259fdb68a 44 if (isItTime){
phairero 0:0b7259fdb68a 45 isItTime = 0;
phairero 0:0b7259fdb68a 46 dPwm = dPwm + 0.1;
phairero 0:0b7259fdb68a 47 if (dPwm>=1){
phairero 0:0b7259fdb68a 48 dPwm--;
phairero 0:0b7259fdb68a 49 }
phairero 0:0b7259fdb68a 50 mypwm.write(dPwm);
phairero 0:0b7259fdb68a 51 }
phairero 0:0b7259fdb68a 52 else {
phairero 0:0b7259fdb68a 53 pc.printf("%f: %d/%d\n",dPwm,iUus,iAeg);
phairero 0:0b7259fdb68a 54 }
phairero 0:0b7259fdb68a 55 }
phairero 0:0b7259fdb68a 56 }