BE@R lab / Mbed 2 deprecated Andante_v000

mobile robot control with artificial hormones

Dependencies:   Communication_Robot RTC-DS1307 iSerial mbed

Fork of Andante_v00 by potiwat ngamkajornwiwat

main.cpp@0:95d17607a698, 2015-02-28 (annotated)

Committer:
soulx
Date:
Sat Feb 28 16:25:25 2015 +0000
Revision:
0:95d17607a698
Child:
2:b31c4677ebc0
mobile robot control with artificial hormones; -first create pin and structure main code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soulx 0:95d17607a698 1 #include "mbed.h"
soulx 0:95d17607a698 2 #include "param.h"
soulx 0:95d17607a698 3 #include "pin_config.h"
soulx 0:95d17607a698 4
soulx 0:95d17607a698 5 //control stearing
soulx 0:95d17607a698 6 PwmOut heading_front(PIN_FRONT_SERVO);
soulx 0:95d17607a698 7 PwmOut heading_rear(PIN_REAR_SERVO);
soulx 0:95d17607a698 8 //control speed
soulx 0:95d17607a698 9 PwmOut drive_motor(PIN_RC_SPEED);
soulx 0:95d17607a698 10
soulx 0:95d17607a698 11 //led debugging
soulx 0:95d17607a698 12 DigitalOut myled(LED1);
soulx 0:95d17607a698 13
soulx 0:95d17607a698 14 //set foreground
soulx 0:95d17607a698 15 Ticker Update_command;
soulx 0:95d17607a698 16 Ticker Samping;
soulx 0:95d17607a698 17
soulx 0:95d17607a698 18 void Init_servo()
soulx 0:95d17607a698 19 {
soulx 0:95d17607a698 20 heading_front.period_ms(20);
soulx 0:95d17607a698 21 heading_rear.period_ms(20);
soulx 0:95d17607a698 22 drive_motor.period_ms(20);
soulx 0:95d17607a698 23 }
soulx 0:95d17607a698 24 void Init_communication()
soulx 0:95d17607a698 25 {
soulx 0:95d17607a698 26 iSerial pan_a(TX_PAN_A, RX_PAN_A); // tx, rx
soulx 0:95d17607a698 27 iSerial pan_b(TX_PAN_B, RX_PAN_B); // tx, rx
soulx 0:95d17607a698 28
soulx 0:95d17607a698 29 pan_a.baud(115200);
soulx 0:95d17607a698 30 pan_b.baud(115200);
soulx 0:95d17607a698 31
soulx 0:95d17607a698 32 }
soulx 0:95d17607a698 33
soulx 0:95d17607a698 34 void Init_foreground()
soulx 0:95d17607a698 35 {
soulx 0:95d17607a698 36 Update_command.attach(&setControl,TIMER_UPDATE);
soulx 0:95d17607a698 37 Samping.attach(&getSensor,TIMER_SAMPING);
soulx 0:95d17607a698 38 }
soulx 0:95d17607a698 39
soulx 0:95d17607a698 40 void setControl()
soulx 0:95d17607a698 41 {
soulx 0:95d17607a698 42
soulx 0:95d17607a698 43 }
soulx 0:95d17607a698 44
soulx 0:95d17607a698 45 void getSensor()
soulx 0:95d17607a698 46 {
soulx 0:95d17607a698 47
soulx 0:95d17607a698 48 }
soulx 0:95d17607a698 49
soulx 0:95d17607a698 50 int main()
soulx 0:95d17607a698 51 {
soulx 0:95d17607a698 52 Init_communication();
soulx 0:95d17607a698 53 Init_servo();
soulx 0:95d17607a698 54
soulx 0:95d17607a698 55 }