main.cpp

00001 #define PI 3.141
00002 
00003 #include "math.h"
00004 #include "mbed.h"
00005 #include "Encoder.h"
00006 #include "lineSensor.h"
00007 #include "PID2.h"
00008 #include "PID.h"
00009 #include "Wheel.h"
00010 #include "Robot.h"
00011 
00012 
00013 //blue D8
00014 //Green D9
00015 //Red D5
00016 int main() {
00017     Serial hm10(PA_11, PA_12);
00018     hm10.baud(9600);
00019     char prevC;
00020     
00021     DigitalIn mybutton(USER_BUTTON);
00022     
00023     DigitalOut enable(PA_13);
00024     enable.write(1);
00025     
00026     Encoder* RE = new Encoder(PB_3,PB_5);
00027     Encoder* LE = new Encoder(PB_10,PB_4);
00028     Wheel* leftWheel = new Wheel(LE,PC_8,PA_9, PA_14);
00029     Wheel* rightWheel = new Wheel(RE,PC_6,PA_8, PA_7);
00030     
00031     //an array of lineSensor pointers params: lineSensor(PinName emitter Pin, PinName reciever Pin, make sure it is from LEFT TO RIGHT
00032     lineSensor* sensorArray[6] = {new lineSensor(PB_9,A5),new lineSensor(PC_11,A4),new lineSensor(PD_2,A3),new lineSensor(PC_10,A2),new lineSensor(PB_8,A1),new lineSensor(PC_12,A0)};
00033     
00034     Robot rbt(leftWheel, rightWheel, sensorArray);
00035     
00036     leftWheel->init2();
00037     
00038     rightWheel->init2();
00039     
00040     rbt.rbtInit();
00041     prevC = 'C';
00042    
00043     while(1)
00044     {
00045        if(hm10.readable())
00046         {
00047             rbt.setState(hm10.getc());
00048         } 
00049     }
00050 }
00051 
00052 /*
00053 
00054         */