DECS_Tubee / Mbed 2 deprecated Tubee_LoadCell

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

main.cpp@0:8c2066de0d07, 2019-03-15 (annotated)

Committer:
whutsup
Date:
Fri Mar 15 05:14:11 2019 +0000
Revision:
0:8c2066de0d07
tubee;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
whutsup 0:8c2066de0d07 1 #include "mbed.h"
whutsup 0:8c2066de0d07 2 #define Debug
whutsup 0:8c2066de0d07 3
whutsup 0:8c2066de0d07 4 Serial pc(USBTX, USBRX);
whutsup 0:8c2066de0d07 5
whutsup 0:8c2066de0d07 6 AnalogIn LeftRight(PA_1);
whutsup 0:8c2066de0d07 7 AnalogIn FrontBack(PA_0);
whutsup 0:8c2066de0d07 8
whutsup 0:8c2066de0d07 9
whutsup 0:8c2066de0d07 10 PwmOut Wheel_L(PA_3);
whutsup 0:8c2066de0d07 11 PwmOut Wheel_R(PA_4);
whutsup 0:8c2066de0d07 12 DigitalOut Reverse_L(PB_5);
whutsup 0:8c2066de0d07 13 DigitalOut Reverse_R(PB_4);
whutsup 0:8c2066de0d07 14 DigitalOut re_L(PA_5);
whutsup 0:8c2066de0d07 15 DigitalOut re_R(PA_6);
whutsup 0:8c2066de0d07 16
whutsup 0:8c2066de0d07 17 void turn()
whutsup 0:8c2066de0d07 18 {
whutsup 0:8c2066de0d07 19 re_R = 0;
whutsup 0:8c2066de0d07 20 re_L = 0;
whutsup 0:8c2066de0d07 21
whutsup 0:8c2066de0d07 22 wait(0.1);
whutsup 0:8c2066de0d07 23
whutsup 0:8c2066de0d07 24 re_R = 1;
whutsup 0:8c2066de0d07 25 re_L = 1;
whutsup 0:8c2066de0d07 26
whutsup 0:8c2066de0d07 27 }
whutsup 0:8c2066de0d07 28
whutsup 0:8c2066de0d07 29 int main()
whutsup 0:8c2066de0d07 30 {
whutsup 0:8c2066de0d07 31 pc.baud(115200);
whutsup 0:8c2066de0d07 32
whutsup 0:8c2066de0d07 33 Wheel_L.period(0.0001);
whutsup 0:8c2066de0d07 34 Wheel_R.period(0.0001);
whutsup 0:8c2066de0d07 35
whutsup 0:8c2066de0d07 36
whutsup 0:8c2066de0d07 37 while(1)
whutsup 0:8c2066de0d07 38 {
whutsup 0:8c2066de0d07 39
whutsup 0:8c2066de0d07 40
whutsup 0:8c2066de0d07 41 float a = 10*LeftRight.read();
whutsup 0:8c2066de0d07 42 float b = 10*FrontBack.read();
whutsup 0:8c2066de0d07 43
whutsup 0:8c2066de0d07 44
whutsup 0:8c2066de0d07 45
whutsup 0:8c2066de0d07 46 if(a>4 && a<8)
whutsup 0:8c2066de0d07 47 {
whutsup 0:8c2066de0d07 48 if(b>5) // Front
whutsup 0:8c2066de0d07 49 {
whutsup 0:8c2066de0d07 50
whutsup 0:8c2066de0d07 51
whutsup 0:8c2066de0d07 52 Reverse_R = 1;
whutsup 0:8c2066de0d07 53 Reverse_L = 1;
whutsup 0:8c2066de0d07 54
whutsup 0:8c2066de0d07 55 Wheel_L=0.41f;
whutsup 0:8c2066de0d07 56 Wheel_R=0.41f;
whutsup 0:8c2066de0d07 57
whutsup 0:8c2066de0d07 58 wait(0.3);
whutsup 0:8c2066de0d07 59
whutsup 0:8c2066de0d07 60 turn();
whutsup 0:8c2066de0d07 61 turn();
whutsup 0:8c2066de0d07 62
whutsup 0:8c2066de0d07 63
whutsup 0:8c2066de0d07 64 }
whutsup 0:8c2066de0d07 65 else if(b<2) // back
whutsup 0:8c2066de0d07 66 {
whutsup 0:8c2066de0d07 67
whutsup 0:8c2066de0d07 68 Reverse_R = 0;
whutsup 0:8c2066de0d07 69 Reverse_L = 0;
whutsup 0:8c2066de0d07 70
whutsup 0:8c2066de0d07 71 Wheel_L=0.41f;
whutsup 0:8c2066de0d07 72 Wheel_R=0.41f;
whutsup 0:8c2066de0d07 73
whutsup 0:8c2066de0d07 74 wait(0.3);
whutsup 0:8c2066de0d07 75
whutsup 0:8c2066de0d07 76 turn();
whutsup 0:8c2066de0d07 77 turn();
whutsup 0:8c2066de0d07 78
whutsup 0:8c2066de0d07 79
whutsup 0:8c2066de0d07 80
whutsup 0:8c2066de0d07 81 }
whutsup 0:8c2066de0d07 82 }
whutsup 0:8c2066de0d07 83
whutsup 0:8c2066de0d07 84 else if(a>8) // left
whutsup 0:8c2066de0d07 85 {
whutsup 0:8c2066de0d07 86
whutsup 0:8c2066de0d07 87 Reverse_R = 1;
whutsup 0:8c2066de0d07 88 Reverse_L = 0;
whutsup 0:8c2066de0d07 89
whutsup 0:8c2066de0d07 90 Wheel_L=0.4f;
whutsup 0:8c2066de0d07 91 Wheel_R=0.43f;
whutsup 0:8c2066de0d07 92
whutsup 0:8c2066de0d07 93 wait(0.3);
whutsup 0:8c2066de0d07 94
whutsup 0:8c2066de0d07 95 turn();
whutsup 0:8c2066de0d07 96
whutsup 0:8c2066de0d07 97
whutsup 0:8c2066de0d07 98
whutsup 0:8c2066de0d07 99 }
whutsup 0:8c2066de0d07 100
whutsup 0:8c2066de0d07 101 else if(a<4) // Right
whutsup 0:8c2066de0d07 102 {
whutsup 0:8c2066de0d07 103
whutsup 0:8c2066de0d07 104 Reverse_R = 0;
whutsup 0:8c2066de0d07 105 Reverse_L = 1;
whutsup 0:8c2066de0d07 106
whutsup 0:8c2066de0d07 107 Wheel_L=0.43f;
whutsup 0:8c2066de0d07 108 Wheel_R=0.4f;
whutsup 0:8c2066de0d07 109
whutsup 0:8c2066de0d07 110 wait(0.3);
whutsup 0:8c2066de0d07 111
whutsup 0:8c2066de0d07 112 turn();
whutsup 0:8c2066de0d07 113 }
whutsup 0:8c2066de0d07 114
whutsup 0:8c2066de0d07 115 else
whutsup 0:8c2066de0d07 116
whutsup 0:8c2066de0d07 117 {
whutsup 0:8c2066de0d07 118 Wheel_L=0;
whutsup 0:8c2066de0d07 119 Wheel_R=0;
whutsup 0:8c2066de0d07 120
whutsup 0:8c2066de0d07 121 }
whutsup 0:8c2066de0d07 122
whutsup 0:8c2066de0d07 123 int c= re_L;
whutsup 0:8c2066de0d07 124 int d= re_R;
whutsup 0:8c2066de0d07 125 pc.printf("%1.3f,%1.3f ,%d, %d \n", a, b, c, d);
whutsup 0:8c2066de0d07 126 wait(0.1);
whutsup 0:8c2066de0d07 127
whutsup 0:8c2066de0d07 128
whutsup 0:8c2066de0d07 129 }
whutsup 0:8c2066de0d07 130 }