Buggy bois / Mbed 2 deprecated HEATS_1

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Dependencies:   mbed

main.cpp@3:01b5e80d842d, 2019-03-09 (annotated)

Committer:
mazdo25
Date:
Sat Mar 09 14:27:48 2019 +0000
Revision:
3:01b5e80d842d
Parent:
1:813f4b17ae65
Child:
4:208f5279143a
Initialization working, sensors not

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mazdo25 1:813f4b17ae65 1 #define PI 3.141
mazdo25 1:813f4b17ae65 2
mazdo25 1:813f4b17ae65 3 #include "math.h"
mazdo25 0:f45212966fb1 4 #include "mbed.h"
mazdo25 3:01b5e80d842d 5 #include "PID.h"
mazdo25 0:f45212966fb1 6 #include "Encoder.h"
mazdo25 3:01b5e80d842d 7 #include "lineSensor.h"
mazdo25 1:813f4b17ae65 8 #include "P.h"
mazdo25 0:f45212966fb1 9 #include "Wheel.h"
mazdo25 1:813f4b17ae65 10 #include "Robot.h"
mazdo25 1:813f4b17ae65 11
mazdo25 0:f45212966fb1 12
mazdo25 0:f45212966fb1 13 //blue D8
mazdo25 0:f45212966fb1 14 //Green D9
mazdo25 0:f45212966fb1 15 //Red D5
mazdo25 3:01b5e80d842d 16 int i = 0;
mazdo25 3:01b5e80d842d 17 int main() {
mazdo25 3:01b5e80d842d 18 Serial pc(USBTX, USBRX);
mazdo25 1:813f4b17ae65 19
mazdo25 3:01b5e80d842d 20 DigitalOut enable(PA_13);
mazdo25 3:01b5e80d842d 21 enable.write(1);
mazdo25 3:01b5e80d842d 22
mazdo25 1:813f4b17ae65 23 Encoder* RE = new Encoder(PB_3,PB_5);
mazdo25 3:01b5e80d842d 24 Encoder* LE = new Encoder(PB_10,PB_4);
mazdo25 3:01b5e80d842d 25 Wheel* rightWheel = new Wheel(RE,PC_8,PA_9, PA_14);
mazdo25 3:01b5e80d842d 26 Wheel* leftWheel = new Wheel(LE,PC_6,PA_8, PA_7);
mazdo25 3:01b5e80d842d 27 //an array of lineSensor pointers params: lineSensor(PinName emitter Pin, PinName reciever Pin, make sure it is from LEFT TO RIGHT
mazdo25 0:f45212966fb1 28
mazdo25 0:f45212966fb1 29
mazdo25 3:01b5e80d842d 30 pc.printf("Stage 1 speed %f\r\n", rightWheel->returnAngularVelocity());
mazdo25 1:813f4b17ae65 31
mazdo25 3:01b5e80d842d 32 rightWheel->init(0);
mazdo25 3:01b5e80d842d 33 while(rightWheel->returnAngularVelocity() != 0)
mazdo25 1:813f4b17ae65 34 {
mazdo25 3:01b5e80d842d 35 pc.printf("Stage 2, speed %f\r\n",rightWheel->returnAngularVelocity());
mazdo25 3:01b5e80d842d 36 }
mazdo25 3:01b5e80d842d 37 leftWheel->init(0);
mazdo25 3:01b5e80d842d 38 while(leftWheel->returnAngularVelocity() != 0)
mazdo25 3:01b5e80d842d 39 {
mazdo25 3:01b5e80d842d 40 pc.printf("Stage 2, speed %f\r\n",leftWheel->returnAngularVelocity());
mazdo25 1:813f4b17ae65 41 }
mazdo25 1:813f4b17ae65 42
mazdo25 3:01b5e80d842d 43 while(1)
mazdo25 3:01b5e80d842d 44 {
mazdo25 3:01b5e80d842d 45 i++;
mazdo25 3:01b5e80d842d 46 if (i >= 10)
mazdo25 3:01b5e80d842d 47 {
mazdo25 3:01b5e80d842d 48 i = 0;
mazdo25 3:01b5e80d842d 49 pc.printf("speed %f\r\n", rightWheel->returnAngularVelocity());
mazdo25 3:01b5e80d842d 50 pc.printf("speed %f\r\n", leftWheel->returnAngularVelocity());
mazdo25 3:01b5e80d842d 51 }
mazdo25 3:01b5e80d842d 52 }
mazdo25 3:01b5e80d842d 53 }
mazdo25 0:f45212966fb1 54
mazdo25 3:01b5e80d842d 55 /* ineSensor* sensorArray[6] = {new lineSensor(D11,A0),new lineSensor(D7,A1),new lineSensor(D6,A2),new lineSensor(D5,A3),new lineSensor(D4,A4),new lineSensor(D3,A5)}; */