Diff: main.cpp

Revision:

1:813f4b17ae65

Parent:

0:f45212966fb1

Child:

3:01b5e80d842d

--- a/main.cpp	Mon Feb 18 13:13:34 2019 +0000
+++ b/main.cpp	Sun Mar 03 00:54:07 2019 +0000
@@ -1,21 +1,51 @@
+#define PI 3.141
+
+#include "math.h"
 #include "mbed.h"
+#include "QEI.h"
 #include "Encoder.h"
-#include "PID.h"
+#include "P.h"
 #include "Wheel.h"
-#include "QEI.h"
+#include "Robot.h"
+#include "lineSensor.h"
+
 
 //blue D8
 //Green D9
 //Red D5
 
-int main() {
-    DigitalOut enable(PC_12);
-    enable.write(1);
-    Encoder* LE = new Encoder(A5,A4);
-    Encoder* RE = new Encoder(A2,A3);
-    Wheel* leftWheel = new Wheel(LE,PB_7,PB_14);
-    Wheel* rightWheel = new Wheel(RE,PA_15,PB_13);
+    Ticker sampler;
+    DigitalOut enable(PA_13);
+    DigitalOut led(PA_5);
+    
+    Encoder* LE = new Encoder(PB_10,PB_4);
+    Encoder* RE = new Encoder(PB_3,PB_5);
+    Wheel* leftWheel = new Wheel(LE,PC_8,PA_9, PA_14);
+    Wheel* rightWheel = new Wheel(RE,PC_6,PA_8, PA_7);
+    Robot rbt(leftWheel, rightWheel);
     
     
+    //an array of lineSensor pointers params: lineSensor(PinName emitter Pin, PinName reciever Pin)
+    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)};
+    int i = 0;
+    
+    void sensorReadings(void)
+    {
+        sensorArray[i]->takeReading();
+        if (sensorArray[i]->returnLineVoltage() >= 1.5f)
+        {
+            led.write(0); 
+        } else { led.write(1);}
+        i++;
+        if (i == 6) {i=0;}     
+    }
+
+int main() {
+    enable.write(1);
+    leftWheel->init(1);
+    rightWheel->init(0);
+    
+    sampler.attach(callback(sensorReadings),0.1);
+    while(1){}
 
 }