Buggy bois / Mbed 2 deprecated HEATS_1

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Dependencies:   mbed

main.cpp

Committer:
mazdo25
Date:
2019-03-28
Revision:
7:cb07cdb35b6c
Parent:
6:477382219bcf
Child:
8:5ed6685f6edd

File content as of revision 7:cb07cdb35b6c:

#define PI 3.141

#include "math.h"
#include "mbed.h"
#include "Encoder.h"
#include "lineSensor.h"
#include "PID2.h"
#include "PID.h"
#include "Wheel.h"
#include "Robot.h"


//blue D8
//Green D9
//Red D5
int main() {
    Serial hm10(PA_11, PA_12);
    hm10.baud(9600);
    
    DigitalOut enable(PA_13);
    enable.write(1);
    
    Encoder* RE = new Encoder(PB_3,PB_5);
    Encoder* LE = new Encoder(PB_10,PB_4);
    Wheel* leftWheel = new Wheel(LE,PC_8,PA_9, PA_14);
    Wheel* rightWheel = new Wheel(RE,PC_6,PA_8, PA_7);
    
    //an array of lineSensor pointers params: lineSensor(PinName emitter Pin, PinName reciever Pin, make sure it is from LEFT TO RIGHT
    lineSensor* sensorArray[6] = {new lineSensor(PB_9,A0),new lineSensor(PC_11,A1),new lineSensor(PD_2,A2),new lineSensor(PC_10,A3),new lineSensor(PB_8,A4),new lineSensor(PC_12,A5)};

    leftWheel->init2();
    
    rightWheel->init2();
    
    Robot rbt(leftWheel, rightWheel, sensorArray);
    
    rbt.rbtInit();
    while(1)
    {
       if(hm10.readable())
        {
            rbt.setState(hm10.getc());
        } 
    }
}

/*

        */