File content as of revision 0:35383655148b:

/*
 * 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;
    }     
}