Diff: main.cpp

Revision:

0:de18ece84d31

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 13 13:56:35 2015 +0000
@@ -0,0 +1,121 @@
+#include "mbed.h"
+ 
+#define wheelc 0.1759292
+//Status LED
+DigitalOut led(LED1);
+ 
+//Motor PWM (speed)
+PwmOut PWMA(PA_8);
+PwmOut PWMB(PB_4);
+ 
+//Motor Direction
+DigitalOut DIRA(PA_9);
+DigitalOut DIRB(PB_10);
+ 
+//Hall-Effect Sensor Inputs
+DigitalIn HEA1(PB_2);
+DigitalIn HEA2(PB_1);
+DigitalIn HEB1(PB_15);
+DigitalIn HEB2(PB_14);
+ 
+//On board switch
+DigitalIn SW1(USER_BUTTON);
+ 
+//Use the serial object so we can use higher speeds
+Serial terminal(USBTX, USBRX);
+ 
+//Timer used for measuring speeds
+Timer timer;
+ 
+//Enumerated types
+enum DIRECTION   {FORWARD=0, REVERSE};
+enum PULSE           {NOPULSE=0, PULSE};
+enum SWITCHSTATE {PRESSED=0, RELEASED};
+ 
+//Debug GPIO
+DigitalOut probe(D10);
+ 
+//Duty cycles
+float dutyA = 1.0f; //100%
+float dutyB = 1.0f; //100%
+ 
+int forward(float distance, int speed)
+{
+    //Set motor period to 100Hz
+    dutyA = 5;
+    dutyB = 5;
+    PWMA.period_ms(speed);
+    PWMB.period_ms(speed);
+ 
+    //Set initial motor speed to stop
+    PWMA.write(dutyA);          //Set duty cycle (%)
+    PWMB.write(dutyB);          //Set duty cycle (%)
+ 
+ 
+}
+ 
+int turn(int degrees, bool direction)
+{
+    //Set motor period to 100Hz
+    dutyA = 10;
+    dutyB = 10;
+    PWMA.period_ms(200);
+    PWMB.period_ms(200);
+ 
+    //Set initial motor speed to stop
+    PWMA.write(dutyA);          //Set duty cycle (%)
+    PWMB.write(dutyB);          //Set duty cycle (%)
+    wait(0.67);
+    dutyA = 0;
+    dutyB = 0;
+    PWMA.write(dutyA);          //Set duty cycle (%)
+    PWMB.write(dutyB);          //Set duty cycle (%)
+}
+int main()
+{
+    //Configure the terminal to high speed
+    terminal.baud(115200);
+ 
+    //Set initial motor direction
+    DIRA = FORWARD;
+    DIRB = FORWARD;
+ 
+    //Set initial motor speed to stop
+    PWMA.write(0.0f);           //0% duty cycle
+    PWMB.write(0.0f);           //0% duty cycle
+    while(1) {
+        while (SW1 == PRESSED) {
+            wait(0.01);
+            while(SW1 == RELEASED) {
+ 
+                for (int i = 0; i<2; i++) {
+                    forward(1,1);
+                    wait(3);
+                    turn(90,1);
+                    forward(1,1);
+                    wait(1.5);
+                    turn(90,1);
+                                        
+                }
+                                wait(0.25);
+                            
+                                DIRA = REVERSE; // victory spin
+                                DIRB = REVERSE;
+                                turn(360,0);
+                                turn(360,0);
+                                turn(360,0);
+                                turn(360,0);
+    
+                                
+                                
+                sleep();
+            }
+        }
+    }
+    //Set initial motor speed to stop
+    PWMA.write(0);          //Set duty cycle (%)
+    PWMB.write(0);          //Set duty cycle (%)
+ 
+ 
+ 
+}