main.cpp

00001 #include "mbed.h"
00002 #include "Help.h"
00003 
00004 Serial pc(USBTX,USBRX);
00005 DigitalOut POWER_LED(D5);
00006 
00007 static int direct,speed;
00008 static char wheel_RF,wheel_LF;
00009 static char wheel_RB,wheel_LB;
00010 static char arm_moter;
00011 
00012 int main(void)
00013 {
00014     POWER_LED = 1;
00015     speed = fast;
00016     direct = SBREAK;
00017     format_data(&wheel_RF);
00018     format_data(&wheel_LF);
00019     format_data(&wheel_RB);
00020     format_data(&wheel_LB);
00021     format_data(&arm_moter);
00022     while(1) {
00023         set_emg();
00024         set_direct(&direct);
00025         set_speed(&speed);
00026         set_mot(&arm_moter, cir, cro);
00027         if(direct != 0) {
00028             set_tire(&wheel_RF, &wheel_RB, direct, 'R', speed);
00029             set_tire(&wheel_LF, &wheel_LB, direct, 'L', speed);
00030         } else {
00031             set_slide(&wheel_RF,&wheel_LF,&wheel_RB,&wheel_LB,r1,l1, speed);
00032         }
00033 
00034         write_data(Rf_add,wheel_RF);
00035         write_data(Lf_add,wheel_LF);
00036         write_data(Rb_add,wheel_RB);
00037         write_data(Lb_add,wheel_LB);
00038         write_data(Mot1add,arm_moter);
00039 /*
00040         pri("\033[2J");
00041         pri("\033[1;1H wheel_RF:0x%x",wheel_RF);
00042         pri("\033[2;1H wheel_LF:0x%x",wheel_LF);
00043         pri("\033[3;1H wheel_RB:0x%x",wheel_RB);
00044         pri("\033[4;1H wheel_LB:0x%x",wheel_LB);
00045         pri("\033[5;1H arm_moter:0x%x",arm_moter);
00046         pri("\033[6;1H direct:%d",direct);
00047         pri("\033[7;1H speed:%d",speed);
00048         */
00049 
00050     }
00051 }