Diff: main.cpp

Revision:

1:e1c1afc945f9

Parent:

0:735b8118a0c9

--- a/main.cpp	Fri Sep 23 10:03:41 2016 +0000
+++ b/main.cpp	Fri Sep 23 10:13:25 2016 +0000
@@ -3,28 +3,46 @@
 
 PwmOut pwm_M1(D6);
 DigitalOut dir_M1(D7);
-//PwmOut pwm_M2(D5);
-//DigitalOut dir_M2(D4);
+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;
+volatile float float_pwm1;
+volatile bool bool_dir1 = false;
+volatile float float_pwm2;
+volatile bool bool_dir2 = 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);
+        float_pwm1 = float_pwm1+0.05;
+        pc.printf("Speed M1 is set to: %f\n\r", float_pwm1);
     }
     else
     {
         pwm_M1 = (1);
-        float_pwm = 1;
-        pc.printf("\nSpeed is maximum\r\n");
+        float_pwm1 = 1;
+        pc.printf("\nSpeed M1 is maximum\r\n");
+    }
+}
+
+void input_i()
+{
+    if(pwm_M2 <= 0.95)
+    {
+        pwm_M2 = pwm_M2 + 0.05;
+        float_pwm2 = float_pwm2+0.05;
+        pc.printf("Speed M2 is set to: %f\n\r", float_pwm2);
+    }
+    else
+    {
+        pwm_M2 = (1);
+        float_pwm2 = 1;
+        pc.printf("\nSpeed M2 is maximum\r\n");
     }
 }
 
@@ -33,52 +51,100 @@
     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);
+        float_pwm1 = float_pwm1-0.05;
+        pc.printf("Speed M1 is set to: %f\n\r", float_pwm1);
     }
     else
     {
         pwm_M1 = (0);
-        float_pwm = 0;
-        pc.printf("\nSpeed is minimum\r\n");
+        float_pwm1 = 0;
+        pc.printf("\nSpeed M1 is minimum\r\n");
+    }
+}
+
+void input_f()
+{
+    if(pwm_M2 >= 0.05)
+    {
+        pwm_M2 = (pwm_M2 - 0.05);
+        float_pwm2 = float_pwm2-0.05;
+        pc.printf("Speed M2 is set to: %f\n\r", float_pwm2);
+    }
+    else
+    {
+        pwm_M2 = (0);
+        float_pwm2 = 0;
+        pc.printf("\nSpeed M2 is minimum\r\n");
     }
 }
 
 void input_c()
 {
-    float pwm_original = pwm_M1;
+    float pwm_original1 = pwm_M1;
     while(pwm_M1>0)
     {
         pwm_M1 = pwm_M1 - 0.1;
         wait(0.1);
     }
     dir_M1 = !dir_M1;
-    while(pwm_M1 < pwm_original)
+    while(pwm_M1 < pwm_original1)
     {
         pwm_M1 = pwm_M1 + 0.1;
         wait(0.1);
     }
-    bool_dir = !bool_dir;
+    bool_dir1 = !bool_dir1;
     if(dir_M1 == cw)
     {
-        pc.printf("\nDirection is set to: clockwise\r\n");
+        pc.printf("\nDirection M1 is set to: clockwise\r\n");
         
-        pc.printf("\nDirection: %B\r\n", bool_dir);
+        pc.printf("Direction M1: %B\r\n", bool_dir1);
     }
     else
     {
-        pc.printf("\nDirection is set to: counter-clockwise\r\n");
+        pc.printf("\nDirection M1 is set to: counter-clockwise\r\n");
         
-        pc.printf("\nDirection: %B\r\n", bool_dir);
+        pc.printf("Direction M1: %B\r\n", bool_dir1);
+    }
+}
+
+void input_v()
+{
+    float pwm_original2 = pwm_M2;
+    while(pwm_M2>0)
+    {
+        pwm_M2 = pwm_M2 - 0.1;
+        wait(0.1);
+    }
+    dir_M2 = !dir_M2;
+    while(pwm_M2 < pwm_original2)
+    {
+        pwm_M2 = pwm_M2 + 0.1;
+        wait(0.1);
+    }
+    bool_dir2 = !bool_dir2;
+    if(dir_M2 == cw)
+    {
+        pc.printf("\nDirection M2 is set to: clockwise\r\n");
+        
+        pc.printf("Direction M2: %B\r\n", bool_dir2);
+    }
+    else
+    {
+        pc.printf("\nDirection M2 is set to: counter-clockwise\r\n");
+        
+        pc.printf("Direction M2: %B\r\n", bool_dir2);
     }
 }
 
 int main()
 {
     pc.baud(115200);
-    pwm_M1 = (0.5);
-    float_pwm = 0.5;
+    pwm_M1 = 0.5;
+    pwm_M2 = 0.5;
+    float_pwm1 = 0.5;
+    float_pwm2 = 0.5;
     dir_M1 = cw;
+    dir_M2 = cw;
     for(;;){
     input = pc.getc();
     wait(0.01);
@@ -93,6 +159,15 @@
         case 'c':
         input_c();
         break;
+        case 'i':
+        input_i();
+        break;
+        case 'f':
+        input_f();
+        break;
+        case 'v':
+        input_v();
+        break;
         default:
         pc.printf("\nUnknown command\n\r");
     }