Diff: main.cpp

Revision:

8:2a4298cbae3f

Parent:

6:0882f93da02f

--- a/main.cpp	Wed Nov 01 23:15:43 2017 +0000
+++ b/main.cpp	Sat May 04 18:51:43 2019 +0000
@@ -1,48 +1,154 @@
 #include "mbed.h"
 #include "PololuLedStrip.h"
+#include "QEI.h"
+#include "MotorControl.h"
+#include "RgbControl.h"
 
-PololuLedStrip ledStrip(D8);
+//Serial              bt(USBTX,USBRX);
+
+Serial          bt(D1,D0);
+
+InterruptIn         LeftReset(PF_0);
+InterruptIn         RightReset(PB_4);
+
+QEI                 re(PA_5,PA_7,NC,220);
 
-#define LED_COUNT 60
-rgb_color colors[LED_COUNT];
+Ticker              timer1; //control Position
+Timeout             ResetTimer;
+
 
-Timer timer;
+int                 targetDis;
+char                rxData[7];
+bool                flagRx = 0;
+int                 dayLed;
 
-// Converts a color from the HSV representation to RGB.
-rgb_color hsvToRgb(float h, float s, float v)
+int R;
+int G;
+int B;
+
+void ReadData()
 {
-    int i = floor(h * 6);
-    float f = h * 6 - i;
-    float p = v * (1 - s);
-    float q = v * (1 - f * s);
-    float t = v * (1 - (1 - f) * s);
-    float r = 0, g = 0, b = 0;
-    switch(i % 6){
-        case 0: r = v; g = t; b = p; break;
-        case 1: r = q; g = v; b = p; break;
-        case 2: r = p; g = v; b = t; break;
-        case 3: r = p; g = q; b = v; break;
-        case 4: r = t; g = p; b = v; break;
-        case 5: r = v; g = p; b = q; break;
-    }
-    return (rgb_color){r * 255, g * 255, b * 255};
+    char inChar;
+    static char rxCount = 0;
+    static char rxBuf[7];
+    
+    while(1 == bt.readable())
+    {
+        
+        inChar = bt.getc();
+     
+        if('<' == inChar)
+        {
+            rxCount = 1;
+        }
+        
+        else if (rxCount > 0 && rxCount <8)
+        {
+            rxBuf[rxCount-1] = inChar;
+            rxCount++;            
+        }
+        
+        else if ( 8 == rxCount && '>' == inChar)
+        {
+            rxCount = 0;
+            flagRx = 1;
+            memcpy(rxData, rxBuf, 7);
+            
+        }
+    }  
+}
+
+
+void Reset_L()
+{   
+    MotorTest(0);
+    re.reset();
+}
+
+void Reset_R()
+{   
+    MotorTest(0);
+}
+
+void Stop()
+{
+    MotorTest(0);
 }
 
 int main()
 {
-    timer.start();
+    
+        bt.baud(115200);
+        bt.puts("START\n");
+                MotorTest(2);
+        ResetTimer.attach(&Stop,15);
+        
 
-    while(1)
-    {
-        // Update the colors array.
-        uint32_t time = timer.read_ms();       
-        for(int i = 0; i < LED_COUNT; i++)
+        LeftReset.rise(&Reset_L);
+        RightReset.rise(&Reset_R);
+        
+        char tmpCommand[4] = {0,};                     // [ADD] command
+        int rxVal = 0;
+        
+        int modeMotor = 0;
+        int modeNum = 0;
+        bt.attach(&ReadData, Serial::RxIrq);
+
+        while(1)
         {
-            uint8_t phase = (time >> 4) - (i << 2);
-            colors[i] = hsvToRgb(phase / 256.0, 1.0, 1.0);
+            
+            if (1 == flagRx)
+            {
+                flagRx = 0;
+                tmpCommand[0] = rxData[0];
+                tmpCommand[1] = rxData[1];
+                tmpCommand[2] = rxData[2];
+                rxVal = atoi(rxData+3);
+                
+                if (0 == strcmp(tmpCommand,"MOT"))
+                {               
+                    bt.putc(tmpCommand[0]);
+                    modeMotor = rxVal;
+                    MotorTest(modeMotor);              
+                                    
+                }
+                
+                else if (0 == strcmp(tmpCommand,"POS"))
+                {
+                    bt.putc(tmpCommand[0]);     
+                    targetDis = rxVal;
+                    timer1.attach(&ControlPos,0.1);
+                }
+                
+                else if (0 == strcmp(tmpCommand,"MOD"))
+                {  
+                    bt.putc(tmpCommand[0]);     
+                    modeNum = rxVal;
+                    ModeSelect(modeNum);
+                    
+                }
+                
+                else if (0 == strcmp(tmpCommand,"DAY"))
+                {   
+                    ModeSelect(4);
+                    bt.putc(tmpCommand[0]);     
+                    targetDis = atoi(rxData+5);                                     // [ADD] return 2 characters in the back of 4 characters
+                    dayLed = 0.01*(atoi(rxData+3)-atoi(rxData+5));                 // [ADD] return 2 cahracters in the front of 4 characters
+                    timer1.attach(&ControlPos,0.1);            
+                }                
+                
+           }
+            
+//            int pulse = re.getPulses();  
+//            int d = pulse/220;
+//            int e = LeftReset.read();
+//            bt.printf("%d %d \n",d,e);
+
+            wait(0.1);
+
+                    
         }
-    
-        // Send the colors to the LED strip.
-        ledStrip.write(colors, LED_COUNT);
-    }
-}
+
+
+
+}
\ No newline at end of file