Diff: main.cpp

Revision:

0:474fb16588bf

Child:

2:ed1f45f9b06a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Jun 02 14:42:26 2019 +0000
@@ -0,0 +1,92 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2018 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "mbed.h"
+#include "stats_report.h"
+#include "PCA9685.h"
+#include "QEI.h"
+#include "WS2812.h"
+#include "PixelArray.h"
+#include "DebounceIn.h"
+
+
+//InterruptIn int0 (PB_0);
+//enc pb2 pb4
+//zero pb5
+DebounceIn zerosens(PB_6);
+QEI enc(PB_2,PB_4,NC,1);
+I2C i2c (PB_9,PB_8);
+PCA9685 pwmouts(0x40<<1,i2c,500);
+WS2812 ws(PB_15,500, 0, 18, 10, 15);
+PixelArray px(500);
+DigitalOut led1(LED1);
+
+#define SLEEP_TIME                  200 // (msec)
+#define PRINT_AFTER_N_LOOPS         20
+#define REVCNT 500
+
+void int0f (void)
+{
+    led1=!led1;
+}
+void encworker()
+{
+    printf("hello encoder\n");
+    int pos=0;
+    int pos_=0;
+    int npos=0;
+    int lastdirection=0;
+    while(1)
+    {
+        if (zerosens.ntrig()) 
+        {
+            printf("zero\n");
+            npos=enc.getPulses();
+            enc.reset();
+        }
+        pos=enc.getPulses();
+        
+        printf("pos: %d \t%d \t%d\n",pos,npos,zerosens.read());
+        wait(0.1);    
+    }
+}
+void ledworker()
+{
+    printf("hello leds\n");
+    
+    ws.useII(WS2812::OFF); // use no intensity scaling
+    Timer t;
+    t.start();
+    while(1)
+    {
+        int p=(enc.getPulses()%160)/10;
+        for (uint8_t i=0; i<15; i++)
+        {
+            if (i==p) pwmouts.set_pwm_duty(i,1); else pwmouts.set_pwm_duty(i,0);
+        }
+        px.SetAll(3000000+t.read_ms());
+        
+        //ws.write(px.getBuf());
+        wait(0.02);
+    }
+}
+int main()
+{
+    Thread ledsthread;
+    Thread encthread;
+    
+    ledsthread.start(ledworker);
+    encthread.start(encworker);
+    printf("hello\n");
+    pwmouts.init();
+    float v=0;
+    Timer t;
+    t.start();
+    while (true) 
+    {
+        wait(10);
+        printf("TITS!\n (.)(.)\n");
+    }
+}