Buggy bois / Mbed 2 deprecated HEATS_1

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Dependencies:   mbed

main.cpp@4:208f5279143a, 2019-03-23 (annotated)

Committer:
mazdo25
Date:
Sat Mar 23 19:46:09 2019 +0000
Revision:
4:208f5279143a
Parent:
3:01b5e80d842d
Child:
5:f1613df66ceb
latest working, but line following 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 0:f45212966fb1 5 #include "Encoder.h"
mazdo25 3:01b5e80d842d 6 #include "lineSensor.h"
mazdo25 1:813f4b17ae65 7 #include "P.h"
mazdo25 4:208f5279143a 8 #include "PID.h"
mazdo25 4:208f5279143a 9 #include "LWheel.h"
mazdo25 4:208f5279143a 10 #include "RWheel.h"
mazdo25 1:813f4b17ae65 11 #include "Robot.h"
mazdo25 1:813f4b17ae65 12
mazdo25 0:f45212966fb1 13
mazdo25 0:f45212966fb1 14 //blue D8
mazdo25 0:f45212966fb1 15 //Green D9
mazdo25 0:f45212966fb1 16 //Red D5
mazdo25 3:01b5e80d842d 17 int i = 0;
mazdo25 3:01b5e80d842d 18 int main() {
mazdo25 3:01b5e80d842d 19 Serial pc(USBTX, USBRX);
mazdo25 1:813f4b17ae65 20
mazdo25 3:01b5e80d842d 21 DigitalOut enable(PA_13);
mazdo25 3:01b5e80d842d 22 enable.write(1);
mazdo25 3:01b5e80d842d 23
mazdo25 1:813f4b17ae65 24 Encoder* RE = new Encoder(PB_3,PB_5);
mazdo25 3:01b5e80d842d 25 Encoder* LE = new Encoder(PB_10,PB_4);
mazdo25 4:208f5279143a 26 LWheel* leftWheel = new LWheel(LE,PC_8,PA_9, PA_14);
mazdo25 4:208f5279143a 27 RWheel* rightWheel = new RWheel(RE,PC_6,PA_8, PB_6);
mazdo25 0:f45212966fb1 28
mazdo25 4:208f5279143a 29 //an array of lineSensor pointers params: lineSensor(PinName emitter Pin, PinName reciever Pin, make sure it is from LEFT TO RIGHT
mazdo25 4:208f5279143a 30 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)};
mazdo25 4:208f5279143a 31
mazdo25 4:208f5279143a 32 leftWheel->init(0);
mazdo25 0:f45212966fb1 33
mazdo25 4:208f5279143a 34 while(leftWheel->returnAngularVelocity()!= 0)
mazdo25 4:208f5279143a 35 {
mazdo25 4:208f5279143a 36 pc.printf("Stage 1, speed %f\r\n",leftWheel->returnAngularVelocity());
mazdo25 4:208f5279143a 37 }
mazdo25 4:208f5279143a 38
mazdo25 4:208f5279143a 39 rightWheel->init(1);
mazdo25 3:01b5e80d842d 40 while(rightWheel->returnAngularVelocity() != 0)
mazdo25 1:813f4b17ae65 41 {
mazdo25 3:01b5e80d842d 42 pc.printf("Stage 2, speed %f\r\n",rightWheel->returnAngularVelocity());
mazdo25 3:01b5e80d842d 43 }
mazdo25 4:208f5279143a 44 pc.printf("L , speed%f\r\n",leftWheel->returnMaxAngularVel());
mazdo25 4:208f5279143a 45 pc.printf("R , speedM %f\r\n",rightWheel->returnMaxAngularVel());
mazdo25 4:208f5279143a 46 //Robot rbt(leftWheel, rightWheel, sensorArray);
mazdo25 4:208f5279143a 47 leftWheel->adjustAngularVelocity(40.0f);
mazdo25 4:208f5279143a 48 rightWheel->adjustAngularVelocity(-64.0f);
mazdo25 3:01b5e80d842d 49 while(1)
mazdo25 3:01b5e80d842d 50 {
mazdo25 4:208f5279143a 51 pc.printf("L , speed%f\r\n",leftWheel->returnAngularVelocity());
mazdo25 4:208f5279143a 52 pc.printf("R , speedM %f\r\n",rightWheel->returnAngularVelocity());
mazdo25 3:01b5e80d842d 53 }
mazdo25 4:208f5279143a 54
mazdo25 3:01b5e80d842d 55 }
mazdo25 4:208f5279143a 56 //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)};