tim003 tim003
Granulo Eldar Fahrudin Brbutović
Revision 0:f2c718b5cb18, committed 2014-05-12
- Comitter:
- tim003
- Date:
- Mon May 12 10:01:47 2014 +0000
- Commit message:
- LV9-PAI-Grupa2-Tim003-Zadatak2
Changed in this revision
--- /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;
+ }
+
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon May 12 10:01:47 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/8a40adfe8776 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sMotor.lib Mon May 12 10:01:47 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/XtaticO/code/sMotor/#4b3b9e047ce3