main.cpp

00001 #include "mbed.h"
00002 #include "sMotor.h"
00003 
00004 Serial pc(USBTX, USBRX);
00005 sMotor motor(dp13, dp11, dp10, dp9);
00006 
00007 int step_speed = 0;
00008 int numstep = 512;
00009 int direction = 0;
00010 int main() {
00011     pc.printf("O - Postavljanje osovine u proizvoljan polozaj. \n");
00012     pc.printf("P - Promjena smjera okretanja. \n");
00013     pc.printf("B - Promjena brzine okretanja. \n");
00014     pc.printf("K - Pokreni motor. \n");
00015     pc.printf("S - Zustavi motor. \n");
00016     pc.printf("Trenutna brzina je %d", step_speed);
00017     step_speed=1200;
00018     while(1) {
00019         if(pc.readable()) 
00020         {
00021             char a = pc.getc();
00022         if(a=='O')
00023         {
00024             int ugao;
00025             pc.printf("\nUnesi ugao: ");
00026             pc.scanf("%d", &ugao);
00027             numstep = (ugao/360.00)*512;
00028             motor.step(numstep,direction,step_speed);
00029         }
00030         if(a=='P')
00031         {
00032             numstep = 512;
00033             if(direction==0)
00034             {
00035             motor.anticlockwise();
00036             direction = 1;
00037             }
00038             else
00039             {
00040                 motor.clockwise();
00041                 direction = 0;
00042             }
00043             motor.step(numstep,direction,step_speed);
00044         }
00045         if(a=='B')
00046         {
00047             pc.printf("Trenutna brzina je %d, unesite novu: ");
00048             pc.scanf("%d", &step_speed);
00049             motor.step(numstep,direction,step_speed);
00050         }
00051         if(a=='K')
00052         {   
00053             if(step_speed==0)
00054             step_speed = 1200;
00055             motor.step(numstep,direction,step_speed);
00056         }
00057         if(a=='S')
00058         {
00059             motor.step(0,direction,step_speed);
00060         }
00061     }
00062 }
00063 }