main.cpp

00001 #include "mbed.h"
00002 #include "sMotor.h"
00003 
00004 #include <string>
00005 
00006 
00007 #define PIN1 dp13
00008 #define PIN2 dp11
00009 #define PIN3 dp10
00010 #define PIN4 dp9
00011 
00012 Serial pc(USBTX, USBRX); //tx, rx
00013 sMotor stepper_motor(PIN1, PIN2, PIN3, PIN4);
00014 
00015 int step_speed = 1200 ; // set default motor speed
00016 int numsteps = 512;
00017 int oldsteps = 0;
00018 
00019 Ticker rotator;
00020 bool cw = true, working = true;
00021 
00022 int speed =1200;
00023 
00024 string buffer = "";
00025 
00026 bool is_digit(char c) {
00027     return c >= '0' && c <= '9';
00028 }
00029 
00030 void wrong_comm() {
00031     pc.printf("Wrong command\n");
00032     buffer = "";
00033 }
00034 
00035 void rotate() {
00036     if(working) {
00037         cw ? stepper_motor.step(numsteps, 0, speed) :
00038             stepper_motor.step(numsteps, 1, speed);    
00039     }
00040 }
00041 
00042 int main() {
00043     
00044     rotator.attach(&rotate, .001);
00045     
00046     /*
00047         PROTOCOL:
00048         
00049         Axxx - set angle to xxx (out of 360)
00050         Sxxx - set motor speed to xxx
00051         W - toggle turn motor on/off
00052         C - set cw/ccw rotation direction
00053     */
00054     
00055     while(true) {
00056         buffer.push_back(pc.getc());
00057         if(buffer.length() == 4) {
00058             if(!is_digit(buffer[1]) || !is_digit(buffer[2]) || !is_digit(buffer[3]))
00059                 wrong_comm();
00060             int value = buffer[3] + buffer[2] * 10 + buffer[1] * 100;
00061             switch(buffer[0]) {
00062                 case 'A':
00063                     oldsteps = numsteps;
00064                     numsteps = value;
00065                     if(numsteps > oldsteps)
00066                     stepper_motor.step(numsteps, 1, speed);
00067                     else if(numsteps < oldsteps) stepper_motor.step(numsteps, 0, speed); 
00068                     buffer = "";
00069                 break;
00070 
00071                 case 'S':
00072                     speed = value;
00073                     buffer = "";
00074                     
00075                 break;
00076                 
00077                 default:
00078                     wrong_comm();
00079             }
00080         } else if(buffer.length() == 1 && buffer[0] == 'W')
00081             working = !working;
00082         else if(buffer.length() == 1 && buffer[0] == 'C')
00083             cw = !cw;
00084       //  stepper_motor.pins = 3;
00085     }
00086 
00087    
00088 }