Initial Commit
Dependencies: mbed HC05 QEI MODSERIAL SWSPI mbed-rtos
main.cpp
- Committer:
- Throwbot
- Date:
- 2014-10-05
- Revision:
- 0:43331220df0d
- Child:
- 1:1da89c13dfa1
File content as of revision 0:43331220df0d:
#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); } }