Diff: main.cpp

Revision:

4:54544a7dcbe0

Parent:

3:147e7a35d2c3

Child:

5:66527172b136

--- a/main.cpp	Thu Feb 16 17:33:01 2017 +0000
+++ b/main.cpp	Fri Feb 17 01:34:30 2017 +0000
@@ -3,16 +3,19 @@
 
 #define MAX 0x0A
 
-DigitalOut led_1(LED1);         //program running.
-DigitalOut led_2(LED2);         //sensors operating.
-DigitalOut led_3(LED3);         //is moving.
-DigitalOut led_4(LED4);         //is complete.
+DigitalOut led_1(LED1);         // program running.
+DigitalOut led_2(LED2);         // sensors operating.
+DigitalOut led_3(LED3);         // is moving.
+DigitalOut led_4(LED4);         // is complete.
 
-DigitalOut Bit1(p25);           // mux/ pins
+PwmOut steer(p21);              // Pulse width modulation pins that control direction
+PwmOut speed(p22);              // and speed
+
+DigitalOut Bit1(p25);           // multiplexor pins
 DigitalOut Bit2(p24);           //
 DigitalOut Bit3(p23);           //
 
-int rawUS_data[5]={0,0,0,0,0};  //raw data{chan1,chan2,chan3,chan4,chan5}
+int rawUS_data[5]={0,0,0,0,0};  // raw data{chan1,chan2,chan3,chan4,chan5}
 
 int US1_mean[MAX]={0,0,0,0,0,0,0,0,0,0};        // Structures holding recently recorded distances for each respective
 int US2_mean[MAX]={0,0,0,0,0,0,0,0,0,0};        // ultrasonic sensor.
@@ -20,11 +23,11 @@
 int US4_mean[MAX]={0,0,0,0,0,0,0,0,0,0};
 int US5_mean[MAX]={0,0,0,0,0,0,0,0,0,0};
 
-std::string telemFile;          //file holding info about telem data gathered since last power on
+std::string telemFile;          // file holding info about telem data gathered since last power on
 
 void setActiveUS(int chan);
 
-int getPing(void);
+int getPing();
 
 int main() {
     int iCount = 0;
@@ -35,7 +38,7 @@
         measured = getPing();
         rawUS_data[iCount] = measured;
     }
-        
+
     US1_mean[0]=rawUS_data[0];
     US2_mean[0]=rawUS_data[1];
     US3_mean[0]=rawUS_data[2];
@@ -69,19 +72,40 @@
     }
 }
 
-int getPing(void){
+int getPing(){
     int result=0;   
     //write ultrasonic code
     //return measured value
     
-    
     return result;      //should just do "return [operation that gives result];" for efficiency
 }
 
 // Opens set file for logging, appends some data, then returns.
-// 
-void telemSave(std::string data) {
+// This method is only called for speed and heading changes.
+void telemUpdate(float steer, float speed) {
+    std::ofstream stream;
+    stream.open(telemFile, std::ios::app);
+    stream << "steer:" << data << " speed:" << speed << "\n";
+}
+
+// Opens set file for logging, appends some data, then returns.
+// This method is only called for ambient temperature readings.
+void telemUpdate(float temp) {
     std::ofstream stream;
     stream.open(telemFile, std::ios::app);
-    stream << data;
-}
\ No newline at end of file
+    stream << "temp: " << temp << "\n";
+}
+
+// Alters the cars steering angle based on the float passed to it.
+// Float s is valued between -1 and +1. ERRONEOUS VALUES ARE IGNORED.
+void turnWheels(float s) {
+    if (s++>=0&&s<=2) {steer.pulsewidth(s/2000+0.001}}                          // This is Nicolae's code, simplified and included by Frank
+    telemUpdate()
+}
+
+// Alters the cars velocity based on the float passed to it.
+// Float s is valued between -1 and +1. ERRONEOUS VALUES ARE IGNORED.
+void setSpeed(float s) {
+    if (s++>=0&&s<=2) {speed.pulsewidth(s/2000+0.001)}                          // THIS CODE IS NOT VERY GOOD and will not work without changes
+    telemUpdate()                                                               // Someone who knows how PWM works - fix this please
+}