Diff: main.cpp

Revision:

0:44cbfa681c36

diff -r 000000000000 -r 44cbfa681c36 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Sep 10 13:55:57 2018 +0000
@@ -0,0 +1,107 @@
+#include "mbed.h"
+#include "DebounceIn.h"
+
+#define MAX_SPEED 12800 //16oborotov na 800 shagov/sek
+#define MIN_SPEED 250 //
+
+#define SPD_INCREMENT 5
+#define PULSE_DELAY 15
+
+unsigned int speed=MIN_SPEED;
+float delay;
+
+DebounceIn  btn1(A0);
+DebounceIn  btn2(A1);
+DigitalIn  sns1(A2,PullUp);
+DigitalIn  sns2(A3,PullUp);
+
+DigitalOut dir(D5);
+DigitalOut pul(D4);
+
+void moving(int DIR, int MODE){
+    if (MODE == 0){
+        //accel
+        dir=DIR;
+        pul=1;
+        wait_us(PULSE_DELAY);
+        pul=0;
+        speed += SPD_INCREMENT;
+        delay = 1000000/speed;
+        wait_us(delay);
+        }
+        
+    if (MODE == 1){
+        //moving
+        dir=DIR;
+        pul=1;
+        wait_us(PULSE_DELAY);
+        pul=0;
+        delay = 1000000/speed;
+        wait_us(delay);
+        }
+        
+    if (MODE == 2){
+        //decel
+        //dir=DIR;
+        while(speed>MIN_SPEED){
+            pul=1;
+            wait_us(PULSE_DELAY);
+            pul=0;
+            speed -= SPD_INCREMENT;
+            delay = 1000000/speed;
+            wait_us(delay);
+            }
+        }
+
+}
+
+int main()
+{
+    btn1.mode(PullUp);
+    btn1.set_debounce_us(30000);
+    btn1.set_samples(40);
+    btn2.mode(PullUp);
+    btn2.set_debounce_us(30000);
+    btn2.set_samples(40);
+    
+    while(1){
+        
+        if((!btn1)&&(btn2)&&(sns1)&&(speed<MAX_SPEED)){
+            //razgon vverh
+            //printf("accel up speed: %d \n", speed);
+            moving(1,0);
+            }
+        
+        if((!btn1)&&(btn2)&&(sns1)&&(speed>=MAX_SPEED)){
+            //movingUp
+            //printf("moving up speed: %d \n", speed);
+            moving(1,1);
+            }
+            
+        if(((btn1)&&(btn2)||(!sns1))&&(speed>MIN_SPEED)){
+            //breakUp
+            //printf("braek up speed: %d \n", speed);
+            moving(1,2);
+            }
+        
+        if((btn1)&&(!btn2)&&(sns2)&&(speed<MAX_SPEED)){
+            //razgon vniz
+            //printf("accel up speed: %d \n", speed);
+            moving(0,0);
+            }
+        
+        if((btn1)&&(!btn2)&&(sns2)&&(speed>=MAX_SPEED)){
+            //movingDown
+            //printf("moving up speed: %d \n", speed);
+            moving(0,1);
+            }
+            
+        if(((btn1)&&(btn2)||(!sns2))&&(speed>MIN_SPEED)){
+            //breakDown
+            //printf("braek up speed: %d \n", speed);
+            moving(0,2);
+            }
+    
+
+    }
+}