ECE4180 / Mbed 2 deprecated finalProject

This Lab4 Robot Car Project.

Dependencies:   LSM9DS0 Motor Servo mbed

Fork of Lab4_Robot_Project_1 by Like Deng

main.cpp@3:130a982ced94, 2015-11-21 (annotated)

Committer:
ldeng31
Date:
Sat Nov 21 17:34:19 2015 +0000
Revision:
3:130a982ced94
Parent:
1:4b76a9beeae6 
final project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ldeng31 0:8239206a2f26 1 // Hello World to sweep a servo through its full range
ldeng31 1:4b76a9beeae6 2
ldeng31 0:8239206a2f26 3 #include "mbed.h"
ldeng31 3:130a982ced94 4 //#include "Servo.h"
ldeng31 0:8239206a2f26 5 #include "Motor.h"
ldeng31 3:130a982ced94 6 //#include "LSM9DS0.h"
ldeng31 1:4b76a9beeae6 7
ldeng31 0:8239206a2f26 8 // SDO_XM and SDO_G are pulled up, so our addresses are:
ldeng31 3:130a982ced94 9 //#define LSM9DS0_XM_ADDR 0x1D // Would be 0x1E if SDO_XM is LOW
ldeng31 3:130a982ced94 10 //#define LSM9DS0_G_ADDR 0x6B // Would be 0x6A if SDO_G is LOW
ldeng31 1:4b76a9beeae6 11
ldeng31 0:8239206a2f26 12 // refresh time. set to 500 for checking the Data on pc.
ldeng31 3:130a982ced94 13 //#define REFRESH_TIME_MS 500
ldeng31 1:4b76a9beeae6 14
ldeng31 3:130a982ced94 15 //LSM9DS0 imu(p9, p10, LSM9DS0_G_ADDR, LSM9DS0_XM_ADDR);//IMU, read the compass value.
ldeng31 3:130a982ced94 16 //Serial pc(USBTX, USBRX);//Only use this during the testing phase for pc debug.
ldeng31 0:8239206a2f26 17 Motor MR(p25, p6, p5); // Motor A pwm, fwd, rev
ldeng31 0:8239206a2f26 18 Motor ML(p26, p7, p8);//Motor B pwm, fwd, rev
ldeng31 0:8239206a2f26 19 DigitalOut STBY(p11); // Set STBY = 1, enable both motor; Set STBY = 0; disable both motor.
ldeng31 3:130a982ced94 20 //Servo myservo(p21);//PWM control for Servo
ldeng31 3:130a982ced94 21 AnalogIn IR(p); //IR sensor
ldeng31 0:8239206a2f26 22 AnalogIn LeftEncoder(p19);
ldeng31 3:130a982ced94 23 AnalogIn RightEncoder(p20);
ldeng31 1:4b76a9beeae6 24
ldeng31 1:4b76a9beeae6 25 //Return direction from servo - left, right or front
ldeng31 3:130a982ced94 26 //enum DIRC{LEFT,RIGHT,FRONT};
ldeng31 1:4b76a9beeae6 27
ldeng31 1:4b76a9beeae6 28 //Control Motor to turn right.
ldeng31 0:8239206a2f26 29 void TurnRight()
ldeng31 0:8239206a2f26 30 {
ldeng31 0:8239206a2f26 31
ldeng31 0:8239206a2f26 32 ML.speed(-0.3);
ldeng31 0:8239206a2f26 33 MR.speed(0.3);
ldeng31 3:130a982ced94 34 wait(3.0);
ldeng31 0:8239206a2f26 35
ldeng31 0:8239206a2f26 36 }
ldeng31 1:4b76a9beeae6 37
ldeng31 1:4b76a9beeae6 38 //Control Motor to turn left.
ldeng31 0:8239206a2f26 39 void TurnLeft()
ldeng31 0:8239206a2f26 40 {
ldeng31 0:8239206a2f26 41
ldeng31 0:8239206a2f26 42 ML.speed(0.3);
ldeng31 0:8239206a2f26 43 MR.speed(-0.3);
ldeng31 3:130a982ced94 44 wait(3.0);
ldeng31 0:8239206a2f26 45
ldeng31 0:8239206a2f26 46 }
ldeng31 1:4b76a9beeae6 47
ldeng31 1:4b76a9beeae6 48 //Control Motor to go forward.
ldeng31 1:4b76a9beeae6 49 void Forward()
ldeng31 0:8239206a2f26 50 {
ldeng31 1:4b76a9beeae6 51 ML.speed(-0.55);
ldeng31 3:130a982ced94 52 MR.speed(-0.55);
ldeng31 0:8239206a2f26 53 wait(0.01);
ldeng31 0:8239206a2f26 54 }
ldeng31 1:4b76a9beeae6 55
ldeng31 1:4b76a9beeae6 56 //Control Motor to Backup.
ldeng31 1:4b76a9beeae6 57 void Backup()
ldeng31 1:4b76a9beeae6 58 {
ldeng31 1:4b76a9beeae6 59 ML.speed(0.55);
ldeng31 1:4b76a9beeae6 60 MR.speed(0.5);
ldeng31 1:4b76a9beeae6 61 }
ldeng31 1:4b76a9beeae6 62
ldeng31 1:4b76a9beeae6 63 //Control the servo to TurnLeft.
ldeng31 3:130a982ced94 64 //DIRC LookLeft()
ldeng31 3:130a982ced94 65 //{
ldeng31 3:130a982ced94 66 // myservo = 0.0;
ldeng31 3:130a982ced94 67 //wait(1);
ldeng31 3:130a982ced94 68 //return LEFT;
ldeng31 3:130a982ced94 69 //}
ldeng31 1:4b76a9beeae6 70
ldeng31 1:4b76a9beeae6 71 //Control the servo to TurnRight.
ldeng31 3:130a982ced94 72 //DIRC LookRight()
ldeng31 3:130a982ced94 73 //{
ldeng31 3:130a982ced94 74 // myservo = 0.9;
ldeng31 3:130a982ced94 75 //wait(1);
ldeng31 3:130a982ced94 76 //return RIGHT;
ldeng31 3:130a982ced94 77 //}
ldeng31 1:4b76a9beeae6 78
ldeng31 1:4b76a9beeae6 79 //Control the servo to LookStraight.
ldeng31 3:130a982ced94 80 //DIRC LookStraight()
ldeng31 3:130a982ced94 81 //{
ldeng31 3:130a982ced94 82 // myservo = 0.5;
ldeng31 3:130a982ced94 83 //wait(1);
ldeng31 3:130a982ced94 84 //return FRONT;
ldeng31 3:130a982ced94 85 //}
ldeng31 1:4b76a9beeae6 86
ldeng31 0:8239206a2f26 87 int main() {
ldeng31 0:8239206a2f26 88
ldeng31 1:4b76a9beeae6 89 STBY = 1;//enable both Motor
ldeng31 1:4b76a9beeae6 90 wait(1.0);
ldeng31 3:130a982ced94 91 // DIRC looking_dir;
ldeng31 1:4b76a9beeae6 92
ldeng31 0:8239206a2f26 93 while(true)
ldeng31 0:8239206a2f26 94 {
ldeng31 1:4b76a9beeae6 95 Forward(); //Constantly go straight if there is no obstacle.
ldeng31 1:4b76a9beeae6 96
ldeng31 3:130a982ced94 97 }
ldeng31 0:8239206a2f26 98
ldeng31 1:4b76a9beeae6 99 }