Buggy bois / Mbed 2 deprecated HEATS_1

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Dependencies:   mbed

main.cpp@1:813f4b17ae65, 2019-03-03 (annotated)

Committer:
mazdo25
Date:
Sun Mar 03 00:54:07 2019 +0000
Revision:
1:813f4b17ae65
Parent:
0:f45212966fb1
Child:
3:01b5e80d842d
Buggy project

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 1:813f4b17ae65 5 #include "QEI.h"
mazdo25 0:f45212966fb1 6 #include "Encoder.h"
mazdo25 1:813f4b17ae65 7 #include "P.h"
mazdo25 0:f45212966fb1 8 #include "Wheel.h"
mazdo25 1:813f4b17ae65 9 #include "Robot.h"
mazdo25 1:813f4b17ae65 10 #include "lineSensor.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 0:f45212966fb1 16
mazdo25 1:813f4b17ae65 17 Ticker sampler;
mazdo25 1:813f4b17ae65 18 DigitalOut enable(PA_13);
mazdo25 1:813f4b17ae65 19 DigitalOut led(PA_5);
mazdo25 1:813f4b17ae65 20
mazdo25 1:813f4b17ae65 21 Encoder* LE = new Encoder(PB_10,PB_4);
mazdo25 1:813f4b17ae65 22 Encoder* RE = new Encoder(PB_3,PB_5);
mazdo25 1:813f4b17ae65 23 Wheel* leftWheel = new Wheel(LE,PC_8,PA_9, PA_14);
mazdo25 1:813f4b17ae65 24 Wheel* rightWheel = new Wheel(RE,PC_6,PA_8, PA_7);
mazdo25 1:813f4b17ae65 25 Robot rbt(leftWheel, rightWheel);
mazdo25 0:f45212966fb1 26
mazdo25 0:f45212966fb1 27
mazdo25 1:813f4b17ae65 28 //an array of lineSensor pointers params: lineSensor(PinName emitter Pin, PinName reciever Pin)
mazdo25 1:813f4b17ae65 29 lineSensor* 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)};
mazdo25 1:813f4b17ae65 30 int i = 0;
mazdo25 1:813f4b17ae65 31
mazdo25 1:813f4b17ae65 32 void sensorReadings(void)
mazdo25 1:813f4b17ae65 33 {
mazdo25 1:813f4b17ae65 34 sensorArray[i]->takeReading();
mazdo25 1:813f4b17ae65 35 if (sensorArray[i]->returnLineVoltage() >= 1.5f)
mazdo25 1:813f4b17ae65 36 {
mazdo25 1:813f4b17ae65 37 led.write(0);
mazdo25 1:813f4b17ae65 38 } else { led.write(1);}
mazdo25 1:813f4b17ae65 39 i++;
mazdo25 1:813f4b17ae65 40 if (i == 6) {i=0;}
mazdo25 1:813f4b17ae65 41 }
mazdo25 1:813f4b17ae65 42
mazdo25 1:813f4b17ae65 43 int main() {
mazdo25 1:813f4b17ae65 44 enable.write(1);
mazdo25 1:813f4b17ae65 45 leftWheel->init(1);
mazdo25 1:813f4b17ae65 46 rightWheel->init(0);
mazdo25 1:813f4b17ae65 47
mazdo25 1:813f4b17ae65 48 sampler.attach(callback(sensorReadings),0.1);
mazdo25 1:813f4b17ae65 49 while(1){}
mazdo25 0:f45212966fb1 50
mazdo25 0:f45212966fb1 51 }