MAXS / Mbed 2 deprecated manual_cansat

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Dependencies:   mbed

main.cpp

Committer:
hswell3221
Date:
2018-12-11
Revision:
2:2580959cb1f9
Parent:
1:06b0309330c5

File content as of revision 2:2580959cb1f9:

#include "mbed.h"

/*
DigitalOut stby(p23);//23 18
DigitalOut Aout(p24);//22 17
DigitalOut Bout(p22);//24 19
DigitalOut Aout2(p26);
DigitalOut Bout2(p27);
PwmOut motorA(p25);//21 21
PwmOut motorB(p21);//25 22
*\

/*富田
DigitalOut stby(p23);
DigitalOut Aout(p24);
DigitalOut Bout(p22);
DigitalOut Aout2(p26);
DigitalOut Bout2(p27);
PwmOut motorA(p25);
PwmOut motorB(p21);
宮崎
DigitalOut stby(p23);
DigitalOut Aout(p24);
DigitalOut Bout(p22);
DigitalOut Aout2(p28);
DigitalOut Bout2(p29);
PwmOut motorA(p26);
PwmOut motorB(p21);
中西
DigitalOut stby(p23);
DigitalOut Aout(p24);
DigitalOut Bout(p22);
DigitalOut Aout2(p30);
DigitalOut Bout2(p29);
PwmOut motorA(p25);
PwmOut motorB(p21);
*/

Serial xbee(p9,p10);
Serial pc(USBTX,USBRX);
DigitalOut stby(p23);
DigitalOut Aout(p24);
DigitalOut Bout(p22);
DigitalOut Aout2(p30);
DigitalOut Bout2(p29);
PwmOut motorA(p25);
PwmOut motorB(p21);

DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);

int main()
{
    char data;
    
    stby = 1; Aout = 1; Bout = 1; Aout2 = 0; Bout2 = 0;
    motorA.period(0.0005);
    motorB.period(0.0005);
    motorA.pulsewidth(0.0005);
    motorB.pulsewidth(0.0005);
    led1 = 1; led2 = 0; led3 = 0; led4 = 0;
    wait(2);
    
    motorA.pulsewidth(0.00025);
    motorB.pulsewidth(0.00025);
    led1 = 0; led2 = 1; led3 = 0; led4 = 0;
    wait(2);
    
    motorA.pulsewidth(0.00);
    motorB.pulsewidth(0.00);
    led1 = 0; led2 = 0; led3 = 0; led4 = 0;
    
    pc.printf("start\n");
    
    while(1)
    {
        if(xbee.readable())
         {
            data = xbee.getc();
         }
        
        /*if(data == 'F')
         { 
            motorA.pulsewidth(0.015);
            motorB.pulsewidth(0.015);
            pc.printf("F:%c",data);
         }*/
             
        if(data == 'A')
         {
            led1 = 1; led2 = 0; led3 = 0; led4 = 0;
            Aout = 1; Bout = 1; Aout2 = 0; Bout2 = 0;
            motorA.pulsewidth(0.020);
            motorB.pulsewidth(0.020);
            pc.printf("A:%c",data);
         }
             
        else if(data == 'R')
         {
            led1 = 0; led2 = 1; led3 = 0; led4 = 0;
            Aout = 1; Bout = 1; Aout2 = 0; Bout2 = 0;
            motorA.pulsewidth(0.020);
            motorB.pulsewidth(0.00);
            pc.printf("R:%c",data);
         }
             
        else if(data == 'L')
         {
            led1 = 0; led2 = 0; led3 = 1; led4 = 0;
            Aout = 1; Bout = 1; Aout2 = 0; Bout2 = 0;
            motorA.pulsewidth(0.00);
            motorB.pulsewidth(0.020);
            pc.printf("L:%c",data);
         }
            
        else if(data == 'B')
         {  
            led1 = 0; led2 = 0; led3 = 0; led4 = 1;
            Aout = 0; Bout = 0; Aout2 = 1; Bout2 = 1;
            motorA.pulsewidth(0.015);
            motorB.pulsewidth(0.015);
            pc.printf("B:%c",data);
         }
        
        else if(data == 'N')
         {  
            led1 = 0; led2 = 0; led3 = 0; led4 = 0;
            Aout = 1; Bout = 1; Aout2 = 0; Bout2 = 0;
            motorA.pulsewidth(0.000);
            motorB.pulsewidth(0.000);
            pc.printf("N:%c",data);
         }
             
        //data = 'N';
         
    }
}