Initial Commit
Dependencies: mbed HC05 QEI MODSERIAL SWSPI mbed-rtos
Diff: main.cpp
- Revision:
- 0:43331220df0d
- Child:
- 1:1da89c13dfa1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sun Oct 05 15:27:32 2014 +0000 @@ -0,0 +1,60 @@ +#include "QEI.h" +#include "mbed.h" +#include "robot.h" +#include "rtos.h" +#define ulrL PTD6 +#define ulR PTD5 +#define ulF PTD1 +#define ulrR PTC2 +#define ulB PTC1 +#define ulL PTC0 +AnalogIn uL(ulL); +AnalogIn uF(ulF); +AnalogIn uR(ulR); +AnalogIn urR(ulrR); +AnalogIn urL(ulrL); +char c; +int main() { + initRobot(); + Thread buzzer_th(pl_buzzer, NULL, osPriorityNormal, 2048, NULL); + motor_control(lMotor*m_speed,rMotor*m_speed); + while(1){ + //bt.printf("Pulses is: Revolutions is: \r\n"); + //bt.lock(); + // bt.printf("LDR1_%lf;LDR2_%lf;Pulses is: %i Revolutions is: %i Pulses is: %i ultrasonic: , \r\n",ldrread1(),ldrread2(), left.getPulses(), left.getRevolutions(),right.getPulses());//, uL.read()*5*102.54*2.54); + //bt.printf("s;LDR1_%lf;LDR2_%lf;Pulses is: %i ; %i:s\n\r",ldrread1(),ldrread2(),wheel.getPulses(), wheel.getRevolutions()); + // motor_control(lMotor*m_speed,rMotor*m_speed); + //bt.unlock(); + if(bt.readable()){ + c = bt.getc(); + if(c=='?') + { + bt.lock(); + bt.printf("EBOTDEMO\n"); + bt.unlock(); + } + /* int number = (c-'0'); + stdio_mutex.lock(); + freq = number; + stdio_mutex.unlock(); + motor_control(0,0); + + */} + if(ldrread1()>0.6) + { + //pl_buzzer(); + + } + if(ldrread2()>0.6) + { + Led_on(); + } + else + { + Led_off(); + } + //Thread::wait(1); + Thread::wait(50); + + } +} \ No newline at end of file