Diff: main.cpp

Revision:

2:9c890a4ddf0e

Parent:

1:d33dca22f3a1

diff -r d33dca22f3a1 -r 9c890a4ddf0e main.cpp
--- a/main.cpp	Fri Nov 16 11:37:29 2018 +0000
+++ b/main.cpp	Sat Feb 13 18:51:53 2021 +0000
@@ -1,85 +1,88 @@
-#include "mbed.h"
-#include "SoftSerial.h"
+/* 
+ *Programa com IHM04A1 e bluetooth com 1 motor
+ *Autor: Hugo Campos
+ *Data:04/10/2020
+ *Status: Funcionando
+*/
 
-PwmOut mypwm(D6);
+#include "mbed.h"
 
-PwmOut mypwm1(D5);
-
-PwmOut mypwm2(D9);
 
-PwmOut mypwm3(D10);
-Serial pc(USBTX,USBRX); 
-DigitalOut myled(LED1);
-DigitalOut aa(D5);
-DigitalOut ab(D6);
-DigitalOut ba(D9);
-DigitalOut bb(D10);
+DigitalOut IN1B     (D5);
+DigitalOut IN2B     (D4);
+PwmOut     ENB      (D2);
+
 
-SoftSerial bt(D2,D3);  //TX RX
-char receive;
-float vel;
+Serial bt(PA_11,PA_12); //(D10,D2)
+Serial pc(USBTX,USBRX);
 
-int main() 
+int main()
 {
-   while(1) 
-   {
-        if (bt.readable()>0)
-        {
-            receive=bt.getc();
-            //invio=bt.putc();
-             //if(receive=='1')myled=!myled; //toggle
-            vel=receive-48;
-            vel/=10;
-            pc.printf("%c %f\n\r", receive, vel);
-            if(receive=='1'){
-                bt.printf("ciao");
-                aa=0;
-                ab=1;
-                ba=0;
-                bb=1;
-                }
-                if(receive=='2'){
-                aa=1;
-                ab=0;
-                ba=1;
-                bb=0;
-                }
-                 if(receive=='0'){
-                aa=0;
-                ab=0;
-                ba=0;
-                bb=0;
-                }
-                if(receive=='3'){
-                
-                aa=0;
-                ab=0;
-                ba=0;
-                bb=1;
-                }
-                if(receive=='4'){
-                
-                aa=0;
-                ab=0;
-                ba=1;
-                bb=0;
-                }
-                if(receive=='5'){
-                
-                aa=0;
-                ab=1;
-                ba=0;
-                bb=0;
-                }
-                if(receive=='6'){
-                
-                aa=1;
-                ab=0;
-                ba=0;
-                bb=0;
-                }
-                
-        } 
-        mypwm.write(LED1);
+    float dutyENB = 0.15;
+    bt.baud(9600);
+
+
+    bt.printf("Connection Established");
+
+    pc.printf("Connection Established");
+    while(1) {
+
+        if (bt.readable()) {
+            char CONTROL=  bt.putc(bt.getc());
+
+    
+            if(CONTROL == 'D') {
+                ENB.write(dutyENB);
+                IN1B = 0;
+                IN2B = 1;
+                bt.printf("motor para direita");
+                wait_ms(500);
+            }
+
+            
+            if(CONTROL == 'E') {
+                ENB.write(dutyENB);
+                IN1B = 1;
+                IN2B = 0;
+                bt.printf("motor para esquerda");
+                wait_ms(500);
+            }
+            if(CONTROL == 'S') {
+                ENB = 0.0;
+                IN1B = 0;
+                IN2B = 0;
+                pc.printf("motor parado");
+                wait_ms(500);
+            }
+            ENB = 0;
+
+        }
+
+        if (pc.readable()) {
+            char CONTROL=  pc.putc(pc.getc());
+            if(CONTROL == 'E') {
+                ENB.write(dutyENB);
+                IN1B = 1;
+                IN2B = 0;
+                pc.printf("motor para esquerda");
+                wait_ms(500);
+            }
+            if(CONTROL == 'D') {
+                ENB.write(dutyENB);
+                IN1B = 0;
+                IN2B = 1;
+                pc.printf("motor para direita");
+                wait_ms(500);
+            }
+            if(CONTROL == 'S') {
+                ENB = 0.0;
+                IN1B = 0;
+                IN2B = 0;
+                pc.printf("motor parado");
+                wait_ms(500);
+            }
+            ENB=0.0;
+        }
     }
-}
+
+}
\ No newline at end of file