main.cpp

00001 #include "mbed.h"
00002 #include "Motor.h"
00003 #include "rtos.h"
00004 
00005 #include "PowerControl/PowerControl.h"
00006 #include "PowerControl/EthernetPowerControl.h"
00007 
00008 Serial blue(p13,p14);
00009 Motor m1(p25, p26, p27); // pwm, fwd, rev
00010 Motor m2(p24, p30, p29); // pwm, fwd, rev
00011 DigitalOut myled1(LED1);
00012 DigitalOut myled2(LED2);
00013 DigitalOut myled3(LED3);
00014 DigitalOut myled4(LED4);
00015 
00016 
00017 float past_values[3];
00018 int past_index = 0;
00019 
00020 int warningCounter = 0;
00021 int clearCounter = 0;
00022 
00023 
00024 int main()
00025 {
00026     // you can set the speeds within the case statements or you can write it using functions. 
00027     while(1) {
00028         char bnum=0;
00029         char bhit=0;
00030         if (blue.getc()=='!') {
00031             if (blue.getc()=='B') { //button data packet
00032                 bnum = blue.getc(); //button number
00033                 bhit = blue.getc(); //1=hit, 0=release
00034                 if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
00035                     switch (bnum) {
00036                         case '1': //number button 1
00037                             if (bhit=='1') {
00038                                 //add hit code here
00039                             } else {
00040                                 //add release code here
00041                             }
00042                             break;
00043                         case '2': //number button 2
00044                             if (bhit=='1') {
00045                                 //add hit code here
00046                             } else {
00047                                 //add release code here
00048                             }
00049                             break;
00050                         case '3': //number button 3
00051                             if (bhit=='1') {
00052                                 //add hit code here
00053                             } else {
00054                                 //add release code here
00055                             }
00056                             break;
00057                         case '4': //number button 4
00058                             if (bhit=='1') {
00059                                 //add hit code here
00060                             } else {
00061                                 //add release code here
00062                             }
00063                             break;
00064                         case '5': //button 5 up arrow
00065                             if (bhit=='1') {
00066                                      m1.speed(0.1);
00067                                      myled1 = 1;
00068                                    
00069                             } else {
00070                                 m1.speed(0.0);
00071                                 myled1 = 0;
00072                                 //add release code here
00073                             }
00074                             break;
00075                         case '6': //button 6 down arrow
00076                             if (bhit=='1') {
00077                                 //add hit code here
00078                               
00079                             } else {
00080 
00081                                 //add release code here
00082                             }
00083                             break;
00084                         case '7': //button 7 left arrow
00085                             if (bhit=='1') {
00086                               
00087                                 //add hit code here
00088                             } else {
00089 
00090                                 //add release code here
00091                             }
00092                             break;
00093                         case '8': //button 8 right arrow
00094                             if (bhit=='1') {
00095                                 //add hit code here
00096                                
00097                             } else {
00098 
00099                                 //add release code here
00100                             }
00101                             break;
00102                         default:
00103                             break;
00104                     }
00105                 }
00106             }
00107         }
00108     }
00109    
00110     
00111 
00112 }
00113