Diff: main.cpp

Revision:

0:f2c718b5cb18

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 12 10:01:47 2014 +0000
@@ -0,0 +1,88 @@
+#include "mbed.h"
+#include "sMotor.h"
+
+#include <string>
+
+
+#define PIN1 dp13
+#define PIN2 dp11
+#define PIN3 dp10
+#define PIN4 dp9
+
+Serial pc(USBTX, USBRX); //tx, rx
+sMotor stepper_motor(PIN1, PIN2, PIN3, PIN4);
+
+int step_speed = 1200 ; // set default motor speed
+int numsteps = 512;
+int oldsteps = 0;
+
+Ticker rotator;
+bool cw = true, working = true;
+
+int speed =1200;
+
+string buffer = "";
+
+bool is_digit(char c) {
+    return c >= '0' && c <= '9';
+}
+
+void wrong_comm() {
+    pc.printf("Wrong command\n");
+    buffer = "";
+}
+
+void rotate() {
+    if(working) {
+        cw ? stepper_motor.step(numsteps, 0, speed) :
+            stepper_motor.step(numsteps, 1, speed);    
+    }
+}
+
+int main() {
+    
+    rotator.attach(&rotate, .001);
+    
+    /*
+        PROTOCOL:
+        
+        Axxx - set angle to xxx (out of 360)
+        Sxxx - set motor speed to xxx
+        W - toggle turn motor on/off
+        C - set cw/ccw rotation direction
+    */
+    
+    while(true) {
+        buffer.push_back(pc.getc());
+        if(buffer.length() == 4) {
+            if(!is_digit(buffer[1]) || !is_digit(buffer[2]) || !is_digit(buffer[3]))
+                wrong_comm();
+            int value = buffer[3] + buffer[2] * 10 + buffer[1] * 100;
+            switch(buffer[0]) {
+                case 'A':
+                    oldsteps = numsteps;
+                    numsteps = value;
+                    if(numsteps > oldsteps)
+                    stepper_motor.step(numsteps, 1, speed);
+                    else if(numsteps < oldsteps) stepper_motor.step(numsteps, 0, speed); 
+                    buffer = "";
+                break;
+
+                case 'S':
+                    speed = value;
+                    buffer = "";
+                    
+                break;
+                
+                default:
+                    wrong_comm();
+            }
+        } else if(buffer.length() == 1 && buffer[0] == 'W')
+            working = !working;
+        else if(buffer.length() == 1 && buffer[0] == 'C')
+            cw = !cw;
+      //  stepper_motor.pins = 3;
+    }
+
+   
+}
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