Diff: main.cpp

Revision:

7:b8a29109ae84

Parent:

6:e15a4b0c8cbf

Child:

8:1af0c46d21d2

--- a/main.cpp	Sat Mar 11 13:45:04 2017 +0000
+++ b/main.cpp	Sat Mar 11 14:09:00 2017 +0000
@@ -9,16 +9,18 @@
 DigitalOut led_3(LED3);         //is moving.
 DigitalOut led_4(LED4);         //is complete.
 
-DigitalOut Bit1(p25);
-DigitalOut Bit2(p24);
-DigitalOut Bit3(p23);
-DigitalOut Trig(p6);
-DigitalIn Echo(p7);
+DigitalOut Bit1(p25);           // US mux value
+DigitalOut Bit2(p24);           // US mux value
+DigitalOut Bit3(p23);           // US mux value
+DigitalOut Trig(p6);            // outgoing pin
+DigitalIn Echo(p7);             // recieving pin
 
-PwmOut steering(p21);
-PwmOut velocity(p22);
+AnalogIn temperature(p20);      // temperature read pin
 
-Timer US;
+PwmOut steering(p21);           // steering modification
+PwmOut velocity(p22);           // velocity modification
+
+Timer US;                                                                       // <-- Iain, comment pls
 
 //global variable dec
 int rawUS_data[5]={0,0,0,0,0};  //raw data{chan1,chan2,chan3,chan4,chan5}
@@ -32,10 +34,11 @@
 
 //function constructs
 void setActiveUS(int chan);             //select sensor
-int getPing(void);                      //get measurement
-void turn(float s);      //turn car -1 left 0 centre 1 right
-void drive(float v);   //drive -1 reverse 1 forward
-void stop(void);
+int getPing(void);                      //get US measurement
+void turn(float s);                     //turn car -1 left 0 centre 1 right
+void drive(float v);                    //drive -1 reverse 1 forward
+void stop(void);                        //stop the car
+void getTemp(void);
 int measurement_mean(int chan);
 
 int main() {
@@ -171,6 +174,21 @@
     return;
 }
 
+void getTemp(void) {                                                            // Reads ambient temperature from Variable Resistor
+    telemUpdate(temperature);                                                   // calls telemUpdate to write ambient temp to file
+    return;                                                                                                                             // <-- Unfinished, needs algorithm for voltage to temp conversion
+}
+
+void telemUpdate(float steer, float speed) {                                    // Opens set file for logging, appends some data, then returns.
+    stream << "steer:" << steer << " speed:" << speed << "\n";                  // This method is only called for speed and heading changes.
+    return;
+}
+
+void telemUpdate(float temp) {                                                  // Opens set file for logging, appends some data, then returns.
+    stream << "temp:" << temp << "\n";                                          // This method is only called for ambient temperature readings.
+    return;
+}
+
 int measurement_mean(int chan){
     int value=0;
     int sum = 0;