Diff: main.cpp

Revision:

0:1f5dc83e66d6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Feb 17 16:57:43 2016 +0000
@@ -0,0 +1,133 @@
+#include "mbed.h"
+
+/*****Globals*****/
+
+// Motor Selectors
+#define x 'x'
+#define y 'y'
+#define f 'f'
+
+// Direction Selectors
+#define cw 0 // = 0
+#define ccw 1 // = 1
+
+// Motor Speed
+#define xMotorPeriod 4 // 25kHz
+#define yMotorPeriod 4 // 25kHz
+#define fMotorPeriod 15
+
+#define xFreq 25000
+#define yFreq 25000
+
+class Drive{
+    public:
+        int stepCount, position, distance, dir, period;
+        Drive(PinName pulse, PinName direction, int motorPeriod) : _pulse(pulse), _direction(direction) {
+            _pulse.write(0.0f);
+            _direction = 0;
+            distance = 1;
+            stepCount = 0;
+            period = motorPeriod;
+            dir = cw;
+        }
+        void on(){
+            _pulse.period_us(period);   // set period
+            _pulse.write(0.50f);              // 50% duty cycle  
+        }
+        // edit members
+        void setDistance(int value){
+            distance = value;
+        }
+        void setDirection(int value){
+            dir = value;
+        }
+        void stepIncr(){
+            stepCount++;
+            if(stepCount == distance){ // stop motor
+                _pulse.write(0.0f);
+                stepCount = 0;
+            }
+        }
+        void resetCount(){
+            stepCount = 0;
+        }
+    private:
+        PwmOut _pulse;
+        DigitalOut _direction;
+};
+
+// Motors
+Drive xMotor(p7, p10, xMotorPeriod);
+Drive yMotor(p8, p11, yMotorPeriod);
+Drive fMotor(p9, p12, fMotorPeriod);
+
+InterruptIn xStepRead(p1);
+InterruptIn yStepRead(p2);
+InterruptIn fStepRead(p3);
+
+// LEDs
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+/*****Functions*****/
+
+// motor drive functions
+void motorDrive(int steps, char motor, int direction){
+    // Input int pulse for distance // 1 pulse =
+    // Input char motor as the drive motor
+    // Return value of 0 means freq input was negative, 1 success
+    // No more than one motor can run at a time (PWM limit)
+
+    /* Example
+    int main(){ // Generates a 25 kHz PWM for 15 seconds
+        motorPWM(500, 'x');
+        wait(15.0);
+        motorStop('x');
+    }
+    */
+    switch(motor){
+        case 'x':   // x track motor
+            xMotor.resetCount();
+            xMotor.setDistance(steps);
+            xMotor.setDirection(direction);
+
+            xStepRead.rise(&xMotor, &Drive::stepIncr);
+            wait_us(5);
+            xMotor.on();
+            break;
+        case 'y':   // y track motor    
+            yMotor.resetCount();
+            yMotor.setDistance(steps);
+            yMotor.setDirection(direction);
+            
+            yStepRead.rise(&yMotor, &Drive::stepIncr);
+            wait_us(5);
+            yMotor.on();   
+            break;
+        case 'f':   // friction motor
+            fMotor.resetCount();
+            fMotor.setDistance(steps);
+            fMotor.setDirection(direction);
+            
+            fStepRead.rise(&fMotor, &Drive::stepIncr);
+            wait_us(5);
+            fMotor.on();
+            break;
+    }
+}
+
+int main() {
+    myled1 = 1;
+    myled2 = 1;
+    myled3 = 1;
+    myled4 = 1;
+
+    while(1){
+        motorDrive(xFreq*5, x, cw);
+        wait(10.0);
+        motorDrive(yFreq*5, y, cw);
+        wait(10.0);
+    }
+}
\ No newline at end of file