Diff: main.cpp

Revision:

0:735b8118a0c9

Child:

1:e1c1afc945f9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Sep 23 10:03:41 2016 +0000
@@ -0,0 +1,100 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+PwmOut pwm_M1(D6);
+DigitalOut dir_M1(D7);
+//PwmOut pwm_M2(D5);
+//DigitalOut dir_M2(D4);
+MODSERIAL pc(USBTX, USBRX);
+int cw = 0;
+int ccw = 1;
+char input;
+volatile float float_pwm;
+volatile bool bool_dir = false;
+
+void input_u()
+{
+    if(pwm_M1 <= 0.95)
+    {
+        pwm_M1 = pwm_M1 + 0.05;
+        float_pwm = float_pwm+0.05;
+        pc.printf("Speed is set to: %f\n\r", float_pwm);
+    }
+    else
+    {
+        pwm_M1 = (1);
+        float_pwm = 1;
+        pc.printf("\nSpeed is maximum\r\n");
+    }
+}
+
+void input_d()
+{
+    if(pwm_M1 >= 0.05)
+    {
+        pwm_M1 = (pwm_M1 - 0.05);
+        float_pwm = float_pwm-0.05;
+        pc.printf("Speed is set to: %f\n\r", float_pwm);
+    }
+    else
+    {
+        pwm_M1 = (0);
+        float_pwm = 0;
+        pc.printf("\nSpeed is minimum\r\n");
+    }
+}
+
+void input_c()
+{
+    float pwm_original = pwm_M1;
+    while(pwm_M1>0)
+    {
+        pwm_M1 = pwm_M1 - 0.1;
+        wait(0.1);
+    }
+    dir_M1 = !dir_M1;
+    while(pwm_M1 < pwm_original)
+    {
+        pwm_M1 = pwm_M1 + 0.1;
+        wait(0.1);
+    }
+    bool_dir = !bool_dir;
+    if(dir_M1 == cw)
+    {
+        pc.printf("\nDirection is set to: clockwise\r\n");
+        
+        pc.printf("\nDirection: %B\r\n", bool_dir);
+    }
+    else
+    {
+        pc.printf("\nDirection is set to: counter-clockwise\r\n");
+        
+        pc.printf("\nDirection: %B\r\n", bool_dir);
+    }
+}
+
+int main()
+{
+    pc.baud(115200);
+    pwm_M1 = (0.5);
+    float_pwm = 0.5;
+    dir_M1 = cw;
+    for(;;){
+    input = pc.getc();
+    wait(0.01);
+    switch(input)
+    {
+        case 'u':
+        input_u();
+        break;
+        case 'd':
+        input_d();
+        break;
+        case 'c':
+        input_c();
+        break;
+        default:
+        pc.printf("\nUnknown command\n\r");
+    }
+    }
+}
\ No newline at end of file