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For Hamza
Dependencies: StepperMotorUni StepperMotorUni_Hello mbed
Fork of StepperMotorUni_Hello by
main.cpp@2:21d312d28d45, 2017-02-22 (annotated)
- Committer:
- poupalov
- Date:
- Wed Feb 22 12:49:52 2017 +0000
- Revision:
- 2:21d312d28d45
- Parent:
- 1:80c512ccd0f2
O_O
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
okano | 0:ae2206213141 | 1 | #include "mbed.h" |
okano | 0:ae2206213141 | 2 | #include "StepperMotorUni.h" |
okano | 0:ae2206213141 | 3 | |
poupalov | 2:21d312d28d45 | 4 | int nombreDePas; |
poupalov | 2:21d312d28d45 | 5 | double rayonCylindre; |
poupalov | 2:21d312d28d45 | 6 | double rayonRoue; |
poupalov | 2:21d312d28d45 | 7 | double rho = rayonCylindre / rayonRoue; |
poupalov | 2:21d312d28d45 | 8 | int k = floor((rho*nombreDePas) / 12); |
poupalov | 2:21d312d28d45 | 9 | |
poupalov | 2:21d312d28d45 | 10 | int bleu; |
poupalov | 2:21d312d28d45 | 11 | int blanc; |
poupalov | 2:21d312d28d45 | 12 | int jaune; |
poupalov | 2:21d312d28d45 | 13 | int nouveau; |
poupalov | 2:21d312d28d45 | 14 | int notreCouleur; |
poupalov | 2:21d312d28d45 | 15 | int periode; |
poupalov | 2:21d312d28d45 | 16 | |
poupalov | 2:21d312d28d45 | 17 | |
poupalov | 2:21d312d28d45 | 18 | |
okano | 0:ae2206213141 | 19 | StepperMotorUni motor( p26, p25, p24, p23 ); |
poupalov | 2:21d312d28d45 | 20 | int mask; |
poupalov | 2:21d312d28d45 | 21 | PortIn p(capteur,mask); |
okano | 0:ae2206213141 | 22 | |
okano | 0:ae2206213141 | 23 | int main() |
okano | 0:ae2206213141 | 24 | { |
okano | 1:80c512ccd0f2 | 25 | motor.set_operation_phase_mode( StepperMotorUni::HALFSTEP ); |
okano | 1:80c512ccd0f2 | 26 | motor.set_pps( 200 ); |
poupalov | 2:21d312d28d45 | 27 | |
poupalov | 2:21d312d28d45 | 28 | int i = 0; |
poupalov | 2:21d312d28d45 | 29 | boolean pasfini = false; |
poupalov | 2:21d312d28d45 | 30 | while (true) { |
poupalov | 2:21d312d28d45 | 31 | int couleur = p.read(); |
poupalov | 2:21d312d28d45 | 32 | if(couleur == nouveau){ |
poupalov | 2:21d312d28d45 | 33 | pasfini = true; |
poupalov | 2:21d312d28d45 | 34 | i = 0; |
poupalov | 2:21d312d28d45 | 35 | } |
poupalov | 2:21d312d28d45 | 36 | if(pasfini){ |
poupalov | 2:21d312d28d45 | 37 | if(couleur != notreCouleur && i==0){ |
poupalov | 2:21d312d28d45 | 38 | motor.move_steps( k ); |
poupalov | 2:21d312d28d45 | 39 | } |
poupalov | 2:21d312d28d45 | 40 | else if(couleur != notreCouleur && i!=0){ |
poupalov | 2:21d312d28d45 | 41 | motor.move_steps( (-2)*k ); |
poupalov | 2:21d312d28d45 | 42 | pasfini = false; |
poupalov | 2:21d312d28d45 | 43 | } |
poupalov | 2:21d312d28d45 | 44 | else if(couleur == notreCouleur && i==0){ |
poupalov | 2:21d312d28d45 | 45 | i+=1; |
poupalov | 2:21d312d28d45 | 46 | motor.move_steps( k ); |
poupalov | 2:21d312d28d45 | 47 | } |
poupalov | 2:21d312d28d45 | 48 | } |
poupalov | 2:21d312d28d45 | 49 | |
poupalov | 2:21d312d28d45 | 50 | wait(periode); |
poupalov | 2:21d312d28d45 | 51 | } |
poupalov | 2:21d312d28d45 | 52 | |
poupalov | 2:21d312d28d45 | 53 | } |
okano | 0:ae2206213141 | 54 | |
okano | 0:ae2206213141 | 55 | } |
okano | 0:ae2206213141 | 56 | } |