This Lab4 Robot Car Project.
Dependencies: LSM9DS0 Motor Servo mbed
Fork of Lab4_Robot_Project_1 by
main.cpp
- Committer:
- ldeng31
- Date:
- 2015-11-21
- Revision:
- 3:130a982ced94
- Parent:
- 1:4b76a9beeae6
File content as of revision 3:130a982ced94:
// Hello World to sweep a servo through its full range #include "mbed.h" //#include "Servo.h" #include "Motor.h" //#include "LSM9DS0.h" // SDO_XM and SDO_G are pulled up, so our addresses are: //#define LSM9DS0_XM_ADDR 0x1D // Would be 0x1E if SDO_XM is LOW //#define LSM9DS0_G_ADDR 0x6B // Would be 0x6A if SDO_G is LOW // refresh time. set to 500 for checking the Data on pc. //#define REFRESH_TIME_MS 500 //LSM9DS0 imu(p9, p10, LSM9DS0_G_ADDR, LSM9DS0_XM_ADDR);//IMU, read the compass value. //Serial pc(USBTX, USBRX);//Only use this during the testing phase for pc debug. Motor MR(p25, p6, p5); // Motor A pwm, fwd, rev Motor ML(p26, p7, p8);//Motor B pwm, fwd, rev DigitalOut STBY(p11); // Set STBY = 1, enable both motor; Set STBY = 0; disable both motor. //Servo myservo(p21);//PWM control for Servo AnalogIn IR(p); //IR sensor AnalogIn LeftEncoder(p19); AnalogIn RightEncoder(p20); //Return direction from servo - left, right or front //enum DIRC{LEFT,RIGHT,FRONT}; //Control Motor to turn right. void TurnRight() { ML.speed(-0.3); MR.speed(0.3); wait(3.0); } //Control Motor to turn left. void TurnLeft() { ML.speed(0.3); MR.speed(-0.3); wait(3.0); } //Control Motor to go forward. void Forward() { ML.speed(-0.55); MR.speed(-0.55); wait(0.01); } //Control Motor to Backup. void Backup() { ML.speed(0.55); MR.speed(0.5); } //Control the servo to TurnLeft. //DIRC LookLeft() //{ // myservo = 0.0; //wait(1); //return LEFT; //} //Control the servo to TurnRight. //DIRC LookRight() //{ // myservo = 0.9; //wait(1); //return RIGHT; //} //Control the servo to LookStraight. //DIRC LookStraight() //{ // myservo = 0.5; //wait(1); //return FRONT; //} int main() { STBY = 1;//enable both Motor wait(1.0); // DIRC looking_dir; while(true) { Forward(); //Constantly go straight if there is no obstacle. } }