Diff: main.cpp

Revision:

0:35383655148b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jan 04 14:34:40 2022 +0000
@@ -0,0 +1,107 @@
+/*
+ * An example of motor control, using step SG90 and NUCLEO-L476RG.
+ *
+ * Katedra za Elektroniku i digitalne sisteme
+ * Elektrotehnicki fakultet
+ * Beograd 
+ *
+ * Decembar 2021.
+ *
+ */
+
+/*
+ * Biblioteke za uvoz:
+ */
+#include "mbed.h"
+#include "mb_pins.h"
+
+/*
+ * Definisanje makroa:
+ */
+#define DEBOUNCE_DELAY_MS 50
+#define MOTOR_PERIOD_MS 20
+#define MOTOR_PULSE_INIT_MS 1
+#define MOTOR_PULSE_INC_US 50   // 4.5 degrees increment
+#define MAX_PULSE_US 3000
+#define MIN_PULSE_US 500
+
+ 
+/*
+ * Globalne promenljive:
+ */
+PwmOut motor_out(PB_0);  // orange -- A3 pin
+InterruptIn clkwise (MB_SW1);
+InterruptIn cntclkwise (MB_SW2);
+
+int clkwise_dir = 0;
+int cntclkwise_dir = 0;
+  
+/*
+ * Deklaracija funkcija:
+ */
+void ISR_clkwise(void);
+void ISR_cntclkwise(void);
+
+/*
+ * Glavna funkcija:
+ */
+
+int main()
+{
+    clkwise.fall(&ISR_clkwise);
+    cntclkwise.fall(&ISR_cntclkwise);
+    
+    motor_out.period_ms(MOTOR_PERIOD_MS);
+    motor_out.pulsewidth_ms(MOTOR_PULSE_INIT_MS);
+    
+    int pulsewidth = 0;
+    while(1)
+    {
+        if (clkwise_dir)
+        {
+            pulsewidth = motor_out.read()*MOTOR_PERIOD_MS*1000;
+            printf("Pulsewidth when SW1 pressed: %d us\r\n", pulsewidth);
+            if (pulsewidth < MAX_PULSE_US - MOTOR_PULSE_INC_US)
+            {
+                pulsewidth = pulsewidth + MOTOR_PULSE_INC_US;
+                printf("Pulsewidth after SW1 increment: %d us\r\n", pulsewidth);
+                motor_out.pulsewidth_us(pulsewidth);
+            }
+            clkwise_dir = 0;
+            //wait_ms(DEBOUNCE_DELAY_MS);
+        }
+        else if(cntclkwise_dir)
+        {
+            pulsewidth = motor_out.read()*MOTOR_PERIOD_MS*1000;
+            printf("Pulsewidth when SW2 pressed: %d us\r\n", pulsewidth);
+            if (pulsewidth > MIN_PULSE_US + MOTOR_PULSE_INC_US)
+            {
+                pulsewidth = pulsewidth - MOTOR_PULSE_INC_US;
+                printf("Pulsewidth after SW1 increment: %d us\r\n", pulsewidth);
+                motor_out.pulsewidth_us(pulsewidth);
+            }
+            cntclkwise_dir = 0;
+            //wait_ms(DEBOUNCE_DELAY_MS);
+        }
+    }
+}
+
+
+/*
+ * Definicija funkcija:
+ */
+void ISR_clkwise(void){
+    if(!clkwise.read())
+    {
+        wait_ms(DEBOUNCE_DELAY_MS);
+        if (!clkwise.read()) clkwise_dir = 1;
+    }
+}
+
+void ISR_cntclkwise(void){
+    if(!cntclkwise.read())
+    {
+        wait_ms(DEBOUNCE_DELAY_MS);
+        if (!cntclkwise.read()) cntclkwise_dir = 1;
+    }     
+}