Diff: main.cpp

Revision:

0:e655b0bc47b2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Aug 18 12:27:07 2017 +0000
@@ -0,0 +1,62 @@
+#include <Crealab.h>
+#include <CreaBot.h>
+#include <XNucleo6180XA1.h>
+
+Serial pc_uart(PA_2, PA_15,115200); // PC Term
+Serial bt_uart(PA_9, PA_10);        // BlueTooth
+
+// --- Define the Four PINs & Time of movement used for Motor drive -----
+Motor motorLeft  (D2, D3, D4, D5); // Declare first the 2 motors (to avoid to have an object with 8 pins to create)
+Motor motorRight (D6, D7, D8, D9);
+Creabot mybot(&motorLeft, &motorRight, 10.0f,13.0f); // insert the motors and indicate wheel diameter and distance between wheels
+
+// ----------- PIN Definitions 6180 -------------
+#define VL6180X_I2C_SDA   D14 
+#define VL6180X_I2C_SCL   D15 
+static XNucleo6180XA1 *board = NULL;
+
+
+int main() {
+
+
+    /* Init 6180 X-Nucleo  */
+    int status;
+    uint32_t dist;
+    DevI2C *device_i2c = new DevI2C(VL6180X_I2C_SDA, VL6180X_I2C_SCL);
+    board = XNucleo6180XA1::instance(device_i2c, A5, A4, D13, D4);
+    status = board->init_board();
+    if (status) {
+        DEBUG("Failed to init board!\n\r");
+    } 
+/*   --------  */
+
+    wait(2);        // Some delay
+
+
+    mybot.setSpeed(12.5); // 12.5cm/s
+    mybot.move(FORWARD,10); // Go forward of 10cm
+    mybot.waitEndMove(); // Wait end of Move
+    mybot.move(ROTATE,90); // Start rotation of 90° around the center between wheels (two wheels running in same direction at same speed)
+    mybot.move(BACKWARD,40); // Stop immediately the rotation and go backward of 40cm
+    mybot.waitEndMove(); // Wait end of Backward
+    mybot.moveAndWait(LEFT,60); // Move Left of 60° in circle, center being the left wheel (off). Wait end of move
+    mybot.waitEndMove();  // Not needed, as already waited... 
+    mybot.moveAndWait(RIGHT,45, 33); // Move Right of 45°, center being at 33cm of the right wheel. Right wheel moving slower and on a shorter distance than left one. 
+    mybot.moveAndWait(ROTATE,90);
+    mybot.move(ROTATE,-90); // Opposite direction.
+    mybot.waitEndMove(60); // with watchdog => if after 60s the move is not ended, continue the execution
+    mybot.stopMove(); // Stop the movement before end...
+    
+    // Same with a fifo of command, opposite to the move, receiving a new command will not stop the current execution, but the bot will store it.
+    mybot.fifo(FORWARD,10); // Already starting...
+    mybot.fifo(BACKWARD,10); // will wait end of previous command to go
+    mybot.fifo(ROTATE,120.0);
+    mybot.fifo(LEFT, 30, 120);
+    mybot.fifo(RIGHT, 25);
+    mybot.waitEndMove(100000); // wait until fifo end... can flush anytime with stopMove...
+    mybot.stopMove(); // before end... Flush the fifo and remove all instructions…
+
+    while(1) {
+    };
+}
+