void UARTgetMessage(uint8 * str){
while(USBUART_DataIsReady() == 0);
USBUART_GetAll(str);
//UARTprintf("%c",6);//return ACK
}
int main()
{
CyGlobalIntEnable; /* Enable global interrupts. */
//PWM_1_Start();
PWM_1_Start();
USBUART_Start(0,USBUART_5V_OPERATION);
while(!USBUART_bGetConfiguration()){}
USBUART_CDC_Init();
int count = 0;
uint8 buff[64];
buff[0] = 0;
int up_b = 0;
int left_b = 0;
int down_b = 0;
int right_b = 0;
int PWM_count = 0;
int judge_count = 0;
while(1)//main loop
{
if(0 != USBUART_GetConfiguration())
{
if(0 != USBUART_DataIsReady())
{
count = USBUART_GetAll(buff);
if( count != 0){
while(0 == USBUART_CDCIsReady()){}
PWM_1_Start();
PWM_2_Start();
PWM_3_Start();
PWM_4_Start();
USBUART_PutData(buff,count);
CyDelay(500);
USBUART_PutCRLF();
switch(buff[0]){
case 48:
up_b = 1;
break;
case 49:
up_b = 0;
break;
case 50:
left_b = 1;
break;
case 51:
left_b = 0;
break;
case 52:
right_b = 1;
break;
case 53:
right_b = 0;
break;
case 54:
down_b = 1;
break;
case 55:
down_b = 0;
break;
default:
break;
}
judge_count = up_b + left_b + down_b +right_b;
if(judge_count == 0){
PWM_count = 0;
}
if(judge_count == 1){//押されているボタンの数が1つの場合
if(PWM_count <=100){
PWM_count++;
int i = 0;
for(i=0;i<=100;i++){}
}else{}
if(up_b == 1){//上ボタン
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(1);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(1);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(1);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(1);
}
if(left_b == 1)
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(1);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(1);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(0);
}
if(right_b == 1)
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(1);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(1);
}
if(down_b == 1)
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(0);
}
}else if(judge_count == 2){//2個の場合
if(PWM_count <=100){
PWM_count++;
int i = 0;
for(i=0;i<=100;i++){}
}else{}
if(up_b == 1&& left_b == 1){
PWM_1_WriteCompare(0);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(1);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(1);
PWM_4_WriteCompare(0);
PWM_4_direction_Write(0);
}else if(up_b == 1&& right_b == 1){
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(1);
PWM_2_WriteCompare(0);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(0);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(1);
}else if(down_b == 1&& right_b==1){
PWM_1_WriteCompare(0);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(0);
PWM_4_direction_Write(0);
}else if(down_b == 1&& left_b == 1){
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(0);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(0);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(0);
}
}else{}
//if(USBUART_IsLineChanged() == USBUART_LINE_CODING_CHANGED || USBUART_IsLineChanged() == USBUART_LINE_CONTROL_CHANGED)
//{
USBUART_PutCRLF();
//CyDelay(100);
//}
if(64 == count){
while(0 == USBUART_CDCIsReady()){}
//sent zero packet
USBUART_PutData(NULL,0);
}
//LED_Write(0);
}
}
