Initial Commit
Dependencies: mbed HC05 QEI MODSERIAL SWSPI mbed-rtos
main.cpp@0:43331220df0d, 2014-10-05 (annotated)
- Committer:
- Throwbot
- Date:
- Sun Oct 05 15:27:32 2014 +0000
- Revision:
- 0:43331220df0d
- Child:
- 1:1da89c13dfa1
Ebot Working full code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Throwbot | 0:43331220df0d | 1 | #include "QEI.h" |
Throwbot | 0:43331220df0d | 2 | #include "mbed.h" |
Throwbot | 0:43331220df0d | 3 | #include "robot.h" |
Throwbot | 0:43331220df0d | 4 | #include "rtos.h" |
Throwbot | 0:43331220df0d | 5 | #define ulrL PTD6 |
Throwbot | 0:43331220df0d | 6 | #define ulR PTD5 |
Throwbot | 0:43331220df0d | 7 | #define ulF PTD1 |
Throwbot | 0:43331220df0d | 8 | #define ulrR PTC2 |
Throwbot | 0:43331220df0d | 9 | #define ulB PTC1 |
Throwbot | 0:43331220df0d | 10 | #define ulL PTC0 |
Throwbot | 0:43331220df0d | 11 | AnalogIn uL(ulL); |
Throwbot | 0:43331220df0d | 12 | AnalogIn uF(ulF); |
Throwbot | 0:43331220df0d | 13 | AnalogIn uR(ulR); |
Throwbot | 0:43331220df0d | 14 | AnalogIn urR(ulrR); |
Throwbot | 0:43331220df0d | 15 | AnalogIn urL(ulrL); |
Throwbot | 0:43331220df0d | 16 | char c; |
Throwbot | 0:43331220df0d | 17 | int main() { |
Throwbot | 0:43331220df0d | 18 | initRobot(); |
Throwbot | 0:43331220df0d | 19 | Thread buzzer_th(pl_buzzer, NULL, osPriorityNormal, 2048, NULL); |
Throwbot | 0:43331220df0d | 20 | motor_control(lMotor*m_speed,rMotor*m_speed); |
Throwbot | 0:43331220df0d | 21 | while(1){ |
Throwbot | 0:43331220df0d | 22 | //bt.printf("Pulses is: Revolutions is: \r\n"); |
Throwbot | 0:43331220df0d | 23 | //bt.lock(); |
Throwbot | 0:43331220df0d | 24 | // 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); |
Throwbot | 0:43331220df0d | 25 | //bt.printf("s;LDR1_%lf;LDR2_%lf;Pulses is: %i ; %i:s\n\r",ldrread1(),ldrread2(),wheel.getPulses(), wheel.getRevolutions()); |
Throwbot | 0:43331220df0d | 26 | // motor_control(lMotor*m_speed,rMotor*m_speed); |
Throwbot | 0:43331220df0d | 27 | //bt.unlock(); |
Throwbot | 0:43331220df0d | 28 | if(bt.readable()){ |
Throwbot | 0:43331220df0d | 29 | c = bt.getc(); |
Throwbot | 0:43331220df0d | 30 | if(c=='?') |
Throwbot | 0:43331220df0d | 31 | { |
Throwbot | 0:43331220df0d | 32 | bt.lock(); |
Throwbot | 0:43331220df0d | 33 | bt.printf("EBOTDEMO\n"); |
Throwbot | 0:43331220df0d | 34 | bt.unlock(); |
Throwbot | 0:43331220df0d | 35 | } |
Throwbot | 0:43331220df0d | 36 | /* int number = (c-'0'); |
Throwbot | 0:43331220df0d | 37 | stdio_mutex.lock(); |
Throwbot | 0:43331220df0d | 38 | freq = number; |
Throwbot | 0:43331220df0d | 39 | stdio_mutex.unlock(); |
Throwbot | 0:43331220df0d | 40 | motor_control(0,0); |
Throwbot | 0:43331220df0d | 41 | |
Throwbot | 0:43331220df0d | 42 | */} |
Throwbot | 0:43331220df0d | 43 | if(ldrread1()>0.6) |
Throwbot | 0:43331220df0d | 44 | { |
Throwbot | 0:43331220df0d | 45 | //pl_buzzer(); |
Throwbot | 0:43331220df0d | 46 | |
Throwbot | 0:43331220df0d | 47 | } |
Throwbot | 0:43331220df0d | 48 | if(ldrread2()>0.6) |
Throwbot | 0:43331220df0d | 49 | { |
Throwbot | 0:43331220df0d | 50 | Led_on(); |
Throwbot | 0:43331220df0d | 51 | } |
Throwbot | 0:43331220df0d | 52 | else |
Throwbot | 0:43331220df0d | 53 | { |
Throwbot | 0:43331220df0d | 54 | Led_off(); |
Throwbot | 0:43331220df0d | 55 | } |
Throwbot | 0:43331220df0d | 56 | //Thread::wait(1); |
Throwbot | 0:43331220df0d | 57 | Thread::wait(50); |
Throwbot | 0:43331220df0d | 58 | |
Throwbot | 0:43331220df0d | 59 | } |
Throwbot | 0:43331220df0d | 60 | } |