Amaldi / Mbed 2 deprecated Amaldi_RobotSea_Rev3-3_WIP

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 6:92b0e17593e0, committed 2019-08-05

Comitter:
francesco01
Date:
Mon Aug 05 09:03:43 2019 +0000
Parent:
5:b777c4f0eb63
Commit message:
ultima versione

Changed in this revision

BLE-MegaPiSea_Rev3_WIP.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/BLE-MegaPiSea_Rev3_WIP.cpp	Fri Jul 26 07:33:36 2019 +0000
+++ b/BLE-MegaPiSea_Rev3_WIP.cpp	Mon Aug 05 09:03:43 2019 +0000
@@ -21,6 +21,7 @@
 DigitalOut myLed(LED2); // LED verde sulla scheda. Associato a PA_5
 
 DigitalOut Light(PA_0);
+DigitalIn InDiag(PC_0,PullUp); // Di Default è a Vcc. Può essere collegato a GND con un ponticello su CN10 pin18-pin20 
 
 
 // carattere letto dalla seriale del PC
@@ -213,6 +214,7 @@
 /**********/
 /*  MAIN  */
 /**********/
+
 int main()
 {
    
@@ -221,7 +223,7 @@
     pc.printf("\r\n*** L476 BLE MegaPi Motor Driver  ***\r\n");
     
     //Inizializza pin di output per Rotating Blades
-    /*
+  /*  
     OutBlades.mode(OpenDrain);     
     OutBlades.output();
     OutBlades.write(0);
@@ -241,7 +243,7 @@
     BleRst = 1;
     cCommandBLE = '0';
     cOldCommandBLE = '0';
-    
+      
     
     
     // inizializza i PWM di pilotaggio dei  motori Posteriore e Anteriore
@@ -258,9 +260,15 @@
     //++++++++++++++++++++++++++++++++++++++++++++++++++++
     //++++++++++++++ INIZIO Ciclo Principale +++++++++++++    
     //++++++++++++++++++++++++++++++++++++++++++++++++++++
-    
+   
     while(true)
     {
+        
+        if (InDiag == 1)
+           myLed = 1 ;
+        else
+           myLed = 0 ;
+          
         //Ottieni X e Y dal Joystick e trasformali in comandi per il motore Right e Left:
         //Invert X
         //Calcola R+L (Call it V): V =(100-ABS(X)) * (Y/100) + Y
@@ -363,7 +371,7 @@
             AntOutPWB.write(float(fL/100.0)); // DutyCycle del PWM Sinistro (Anteriore)
         }
     } //while (true) Ciclo principale
-    
+   
     //++++++++++++++++++++++++++++++++++++++++++++++++++
     //++++++++++++++ FINE Ciclo Principale +++++++++++++    
     //++++++++++++++++++++++++++++++++++++++++++++++++++
@@ -374,7 +382,10 @@
     //++++++++++++++++++++++++++++++++++++++++++++++++++++
     //++++++++++++++ INIZIO Ciclo test +++++++++++++++++++    
     //++++++++++++++++++++++++++++++++++++++++++++++++++++
-    /*
+ 
+    
+    
+   
     //++++++++++++ INIZIO Test Ricezione Comandi da BLE ++++++++++++++++++++++++++++
     while(true)
     {
@@ -408,7 +419,7 @@
     } // while(true) Test comandi da BLE  
     
     //++++++++++++ FINE ricezione comandi BLE ++++++++++++
-    */
+    
     //++++++++++++ INIZIO Test modalità di funzionamento Motori con PWM ++++++++++++
     /*
     PostOutBI1 = 0;