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Dependencies:   mbed

main.cpp@0:6fe0fbc55b6f, 2018-10-23 (annotated)

Committer:
hswell3221
Date:
Tue Oct 23 08:55:58 2018 +0000
Revision:
0:6fe0fbc55b6f
Child:
1:06b0309330c5
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hswell3221 0:6fe0fbc55b6f 1 #include "mbed.h"
hswell3221 0:6fe0fbc55b6f 2
hswell3221 0:6fe0fbc55b6f 3 Serial xbee(p13,p14);
hswell3221 0:6fe0fbc55b6f 4 Serial pc(USBTX,USBRX);
hswell3221 0:6fe0fbc55b6f 5 DigitalOut stby(p23);
hswell3221 0:6fe0fbc55b6f 6 DigitalOut A_out(p22);
hswell3221 0:6fe0fbc55b6f 7 DigitalOut B_out(p24);
hswell3221 0:6fe0fbc55b6f 8 PwmOut motor_A(p21);
hswell3221 0:6fe0fbc55b6f 9 PwmOut motor_B(p25);
hswell3221 0:6fe0fbc55b6f 10
hswell3221 0:6fe0fbc55b6f 11 int main()
hswell3221 0:6fe0fbc55b6f 12 {
hswell3221 0:6fe0fbc55b6f 13 char data;
hswell3221 0:6fe0fbc55b6f 14
hswell3221 0:6fe0fbc55b6f 15 stby = 1; A_out = 1;B_out = 1;
hswell3221 0:6fe0fbc55b6f 16 motor_A.period(0.020);
hswell3221 0:6fe0fbc55b6f 17 motor_B.period(0.020);
hswell3221 0:6fe0fbc55b6f 18 motor_A.pulsewidth(0.00);
hswell3221 0:6fe0fbc55b6f 19 motor_B.pulsewidth(0.00);
hswell3221 0:6fe0fbc55b6f 20
hswell3221 0:6fe0fbc55b6f 21 pc.printf("start\n");
hswell3221 0:6fe0fbc55b6f 22 xbee.printf("start\n");
hswell3221 0:6fe0fbc55b6f 23
hswell3221 0:6fe0fbc55b6f 24 while(1)
hswell3221 0:6fe0fbc55b6f 25 {
hswell3221 0:6fe0fbc55b6f 26 if(xbee.readable());
hswell3221 0:6fe0fbc55b6f 27 {
hswell3221 0:6fe0fbc55b6f 28 data = xbee.getc();
hswell3221 0:6fe0fbc55b6f 29 }
hswell3221 0:6fe0fbc55b6f 30
hswell3221 0:6fe0fbc55b6f 31 if(data == 'F')
hswell3221 0:6fe0fbc55b6f 32 {
hswell3221 0:6fe0fbc55b6f 33 motor_A.pulsewidth(0.018);
hswell3221 0:6fe0fbc55b6f 34 motor_B.pulsewidth(0.018);
hswell3221 0:6fe0fbc55b6f 35 pc.printf("F:%c",data);
hswell3221 0:6fe0fbc55b6f 36 }
hswell3221 0:6fe0fbc55b6f 37
hswell3221 0:6fe0fbc55b6f 38 else if(data == 'B')
hswell3221 0:6fe0fbc55b6f 39 {
hswell3221 0:6fe0fbc55b6f 40 motor_A.pulsewidth(0.00);
hswell3221 0:6fe0fbc55b6f 41 motor_B.pulsewidth(0.00);
hswell3221 0:6fe0fbc55b6f 42 pc.printf("B:%c",data);
hswell3221 0:6fe0fbc55b6f 43 }
hswell3221 0:6fe0fbc55b6f 44
hswell3221 0:6fe0fbc55b6f 45 else if(data == 'R')
hswell3221 0:6fe0fbc55b6f 46 {
hswell3221 0:6fe0fbc55b6f 47 motor_A.pulsewidth(0.018);
hswell3221 0:6fe0fbc55b6f 48 motor_B.pulsewidth(0.00);
hswell3221 0:6fe0fbc55b6f 49 pc.printf("R:%c",data);
hswell3221 0:6fe0fbc55b6f 50 }
hswell3221 0:6fe0fbc55b6f 51
hswell3221 0:6fe0fbc55b6f 52 else if(data == 'L')
hswell3221 0:6fe0fbc55b6f 53 {
hswell3221 0:6fe0fbc55b6f 54 motor_A.pulsewidth(0.00);
hswell3221 0:6fe0fbc55b6f 55 motor_B.pulsewidth(0.018);
hswell3221 0:6fe0fbc55b6f 56 pc.printf("L:%c",data);
hswell3221 0:6fe0fbc55b6f 57 }
hswell3221 0:6fe0fbc55b6f 58
hswell3221 0:6fe0fbc55b6f 59 else
hswell3221 0:6fe0fbc55b6f 60 {
hswell3221 0:6fe0fbc55b6f 61 motor_A.pulsewidth(0.00);
hswell3221 0:6fe0fbc55b6f 62 motor_B.pulsewidth(0.00);
hswell3221 0:6fe0fbc55b6f 63 pc.printf("N:%c",data);
hswell3221 0:6fe0fbc55b6f 64 }
hswell3221 0:6fe0fbc55b6f 65
hswell3221 0:6fe0fbc55b6f 66 data = 'N';
hswell3221 0:6fe0fbc55b6f 67
hswell3221 0:6fe0fbc55b6f 68 }
hswell3221 0:6fe0fbc55b6f 69 }