DECS_Tubee
/
Tubee_LoadCell
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Dependencies: mbed
Diff: main.cpp
- Revision:
- 0:8c2066de0d07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Mar 15 05:14:11 2019 +0000
@@ -0,0 +1,130 @@
+#include "mbed.h"
+#define Debug
+
+Serial pc(USBTX, USBRX);
+
+AnalogIn LeftRight(PA_1);
+AnalogIn FrontBack(PA_0);
+
+
+PwmOut Wheel_L(PA_3);
+PwmOut Wheel_R(PA_4);
+DigitalOut Reverse_L(PB_5);
+DigitalOut Reverse_R(PB_4);
+DigitalOut re_L(PA_5);
+DigitalOut re_R(PA_6);
+
+void turn()
+{
+ re_R = 0;
+ re_L = 0;
+
+ wait(0.1);
+
+ re_R = 1;
+ re_L = 1;
+
+}
+
+int main()
+{
+ pc.baud(115200);
+
+ Wheel_L.period(0.0001);
+ Wheel_R.period(0.0001);
+
+
+ while(1)
+ {
+
+
+ float a = 10*LeftRight.read();
+ float b = 10*FrontBack.read();
+
+
+
+ if(a>4 && a<8)
+ {
+ if(b>5) // Front
+ {
+
+
+ Reverse_R = 1;
+ Reverse_L = 1;
+
+ Wheel_L=0.41f;
+ Wheel_R=0.41f;
+
+ wait(0.3);
+
+ turn();
+ turn();
+
+
+ }
+ else if(b<2) // back
+ {
+
+ Reverse_R = 0;
+ Reverse_L = 0;
+
+ Wheel_L=0.41f;
+ Wheel_R=0.41f;
+
+ wait(0.3);
+
+ turn();
+ turn();
+
+
+
+ }
+ }
+
+ else if(a>8) // left
+ {
+
+ Reverse_R = 1;
+ Reverse_L = 0;
+
+ Wheel_L=0.4f;
+ Wheel_R=0.43f;
+
+ wait(0.3);
+
+ turn();
+
+
+
+ }
+
+ else if(a<4) // Right
+ {
+
+ Reverse_R = 0;
+ Reverse_L = 1;
+
+ Wheel_L=0.43f;
+ Wheel_R=0.4f;
+
+ wait(0.3);
+
+ turn();
+ }
+
+ else
+
+ {
+ Wheel_L=0;
+ Wheel_R=0;
+
+ }
+
+ int c= re_L;
+ int d= re_R;
+ pc.printf("%1.3f,%1.3f ,%d, %d \n", a, b, c, d);
+ wait(0.1);
+
+
+ }
+}