main.cpp

00001 #include "mbed.h"
00002  
00003 Serial pc(USBTX, USBRX);
00004 Ticker run;
00005 BusOut motor(dp13, dp11, dp10, dp9); //IN1, IN2, IN3, IN4
00006 int anticlockwise[8] = {1, 3, 2, 6, 4, 12, 8, 9};
00007 int clockwise[8] = {9, 8, 12, 4, 6, 2, 3, 1};
00008 int speed = 1200;
00009 bool startstop = false;
00010 bool direction = true;
00011 int stepen = 360;
00012 double x =  0.703125;
00013 void spin(){
00014     switch (direction) {
00015         case true:  {for (int i = 0; i < 8; i++) {motor = clockwise[i];wait_us(speed);}} break;
00016         case false: {for (int i = 0; i < 8; i++) {motor = anticlockwise[i];wait_us(speed);}} break;
00017         }
00018     }
00019  
00020 int main() 
00021 {
00022  
00023     while (1){
00024         
00025 
00026 if (pc.readable()){
00027  char c = pc.getc();
00028      
00029      if(c=='A'){
00030      pc.scanf ("%d",&stepen);
00031      for (int i=0; i<(stepen/x);i++) spin();
00032      
00033      }
00034      else if (c=='B')direction = !direction;
00035      else if(c=='C') pc.scanf ("%d",&speed);
00036      else if (c=='D') startstop=!startstop;
00037 }
00038 
00039  if (startstop) spin();
00040         
00041         
00042         
00043         }
00044 }