Revision 0:3b0e2caa6ad4, committed 2014-05-12

Comitter:

tim010

Date:

Mon May 12 16:01:59 2014 +0000

Commit message:

PAI_LV9_Grupa3_Tim010

Changed in this revision

diff -r 000000000000 -r 3b0e2caa6ad4 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 12 16:01:59 2014 +0000
@@ -0,0 +1,77 @@
+#include "mbed.h"
+#include "motor.h"
+ 
+Serial pc(USBTX, USBRX);
+motor mt(dp13, dp11, dp10, dp9);
+Ticker tick;
+ 
+int brzina = 1200 ; // set default motor speed
+int brojKoraka = 512 ;
+ 
+void komunikacija() {
+    char c = pc.getc();
+    while (c != '0' && c != '1' && c != '2' && c != '3' && c != '4' &&  c!='5') 
+        c = pc.getc();
+        pc.printf("Char %c\n", c);
+    if (c=='1')
+        mt.korak(brojKoraka,0,brzina); // number of steps, direction, speed
+ 
+    if (c=='2')
+        mt.korak(brojKoraka,1,brzina);
+ 
+    if (c=='3')
+        mt.korak(brojKoraka/2,0,brzina);
+ 
+    if (c=='4')
+        mt.korak(brojKoraka/2,1,brzina);
+ 
+    if (c=='5') {
+        pc.printf("Current Speed: %d\n\r", brzina);
+        pc.printf("New speed: \n\r");
+        pc.scanf("%d",&brzina); // sets new speed
+        }
+}
+ 
+int main() {
+    // Screen Menu
+    pc.printf("Osnovna brzina: %d\n\r",brzina);
+    pc.printf("1- 360 stepeni naprijed\n\r");
+    pc.printf("2- 360 stepeni nazad\n\r");
+    pc.printf("3- 180 stepeni naprijed\n\r");
+    pc.printf("4- 180 stepeni nazad\n\r");
+    pc.printf("5- Promijeni brzinu\n\r");
+    //pc.attach(&komunikacija);
+    
+    while(1) {
+        char c = pc.getc();
+    //while (c != 'a' && c != 'b' && c != 'c' && c != 'd' && c != 'e' &&  c!='f') 
+        //c = pc.getc();
+        //pc.printf("Char %c\n", c);
+    if (c=='a')
+        mt.korak(brojKoraka,0,brzina); // number of steps, direction, speed
+ 
+    if (c=='b')
+        mt.korak(brojKoraka,1,brzina);
+ 
+    if (c=='d')
+        mt.korak(brojKoraka/2,0,brzina);
+ 
+    if (c=='e')
+        mt.korak(brojKoraka/2,1,brzina);
+ 
+    if (c=='f') {
+        pc.printf("Current Speed: %d\n\r", brzina);
+        pc.printf("New speed: \n\r");        
+        pc.scanf("%d",&brzina); // sets new speed
+        }
+    if (c=='g') {
+        pc.printf("\nStepeni: ");
+        float stepeni(0);
+        pc.scanf("%f", &stepeni);
+        float temp(stepeni/5.625);
+        mt.korak(brojKoraka/(64/temp),0,brzina);
+        }
+        }
+   
+ 
+}
\ No newline at end of file

diff -r 000000000000 -r 3b0e2caa6ad4 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon May 12 16:01:59 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/8a40adfe8776
\ No newline at end of file

diff -r 000000000000 -r 3b0e2caa6ad4 motor.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.cpp	Mon May 12 16:01:59 2014 +0000
@@ -0,0 +1,62 @@
+#include "motor.h"
+#include "mbed.h"
+ 
+int brzinaMotora; // Steper speed
+ 
+motor::motor(PinName A0, PinName A1, PinName A2, PinName A3) : _A0(A0), _A1(A1), _A2(A2), _A3(A3) { // Defenition of motor pins
+    _A0=0; _A1=0; _A2=0; _A3=0;
+}
+ 
+void motor::postaviPinove(int vr) {
+        switch (vr) {
+            case 0: { _A0=0; _A1=0; _A2=0; _A3=1; }
+            break;
+            case 1: { _A0=0; _A1=0; _A2=1; _A3=1; }
+            break;
+            case 2: { _A0=0; _A1=0; _A2=1; _A3=0; }
+            break;
+            case 3: { _A0=0; _A1=1; _A2=1; _A3=0; }
+            break;
+            case 4: { _A0=0; _A1=1; _A2=0; _A3=0; }
+            break;
+            case 5: { _A0=1; _A1=1; _A2=0; _A3=0; }
+            break;
+            case 6: { _A0=1; _A1=0; _A2=0; _A3=0; }
+            break;
+            case 7: { _A0=1; _A1=0; _A2=0; _A3=1; }
+            break;
+        }
+        wait_us(brzinaMotora); // wait time defines the speed
+    }
+ 
+void motor::binarniBrojac(bool nazad) {
+    if (nazad)
+        for (int i = 7; i >= 0; i--)
+            postaviPinove(i);
+   
+    if (!nazad)
+        for (int i = 0; i <= 7; i++)
+            postaviPinove(i);
+}
+ 
+void motor::nazad() { // rotate the motor 1 step anticlockwise
+    binarniBrojac(true);
+}
+ 
+void motor::naprijed() { // rotate the motor 1 step clockwise
+    binarniBrojac(false);
+}
+void motor::korak(float broj_koraka, int smjer, int brzina) {// steper function: number of steps, direction (0- right, 1- left), speed (default 1200)
+    int count=0; // initalize step count
+    brzinaMotora=brzina; //set motor speed
+    if (smjer==0) // turn clockwise
+        do {
+            naprijed();
+            count++;
+        } while (count<broj_koraka); // turn number of steps applied
+    else if (smjer==1)// turn anticlockwise
+        do {
+            nazad();
+            count++;
+        } while (count<broj_koraka);// turn number of steps applied
+}
\ No newline at end of file

diff -r 000000000000 -r 3b0e2caa6ad4 motor.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/motor.h	Mon May 12 16:01:59 2014 +0000
@@ -0,0 +1,26 @@
+#ifndef MBED_MOTOR_H
+#define MBED_MOTOR_H
+ 
+#include "mbed.h"
+ 
+class motor {
+public:
+ 
+    motor(PinName A0, PinName A1, PinName A2, PinName A3); //konstruktor
+ 
+    void korak(float broj_koraka, int smjer, int brzina);
+    void naprijed();
+    void nazad();
+    void binarniBrojac(bool nazad);
+    void postaviPinove(int vr);
+   
+private:
+ 
+    DigitalOut _A0;
+    DigitalOut _A1;
+    DigitalOut _A2;
+    DigitalOut _A3;
+ 
+};
+ 
+#endif
\ No newline at end of file