Diff: main.cpp

Revision:

0:e389f98132a4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jul 07 08:22:07 2020 +0000
@@ -0,0 +1,57 @@
+#include <string>
+#include <vector>
+
+#include "mbed.h"
+#include "ConsoleAPI.h"
+#include "Device.h"
+
+#include "Motor.h"
+#include "Servo.h"
+#include "3_wheels_Vehicule.h"
+
+using namespace std;
+
+Serial pc(D1, D0);
+Serial bt(PB_6, PB_7);
+
+Motor m1(PB_4 ,PC_10, PC_12, PA_0, PA_4, PC_3); // Create a L298HBridge object 
+Motor m2(PB_5, PB_2, PB_12, PB_14, PC_7, PC_4); // Create a L298HBridge object
+Motor m3(PC_8, PD_2, PC_11, PC_6, PA_15, PC_2); // Create a L298HBridge object
+
+Servo servo1(PA_1); 
+Servo servo2(PA_10);
+Servo servo3(PA_9);
+
+
+
+void led_switch(void);
+
+/*Ticker time_up;
+ 
+void led_switch() {
+    //pc.printf("%f \t %f \t %f\n",m1.getOut(), m2.getOut(), m3.getOut()); //m1.getOut());
+    //pc.printf("%f \t %f \t %f\n",m1.getCom(), m2.getCom(), m3.getCom());
+}*/
+
+int main() {
+    
+    pc.baud(115200);
+    bt.baud(9600);
+    //Add serial to API
+    ConsoleAPI::add_serial(&pc);
+    ConsoleAPI::add_serial(&bt);
+    
+    servo1.calibrate(0.001,90); //portée de -90 à 90
+    servo2.calibrate(0.001,90);
+    servo3.calibrate(0.001,90);
+    
+    servo1.write(0.5);
+    servo2.write(0.48);
+    servo3.write(0.5);
+    
+    Vehicule3 robot(&m1, &m2, &m3, &servo1, &servo2, &servo3, 0.125);
+    
+    while (1){
+        ConsoleAPI::check_command_line_argument();
+    }
+}
\ No newline at end of file