Revision 3:a7f0b4b78648, committed 2014-11-12

Comitter:

ddrew73

Date:

Wed Nov 12 17:43:52 2014 +0000

Parent:

2:5398a0de0780

Commit message:

:)

Changed in this revision

diff -r 5398a0de0780 -r a7f0b4b78648 main.cpp
--- a/main.cpp	Mon Nov 10 01:46:55 2014 +0000
+++ b/main.cpp	Wed Nov 12 17:43:52 2014 +0000
@@ -1,31 +1,39 @@
+//THE INFAMOUS NET TRAP
+//Brought to you by Team LaTe
+
+
 #include "mbed.h"
 #include "TB6612.h"
 #include "nRF8001.h"
 #include "BLEPeripheral.h"
 #include "BLECharacteristic.h"
-   
+
+//Init
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
 DigitalOut led3(LED3);
-//DigitalOut ultra_trigger(D8);
-//AnalogIn ultra_out(A0);
 Serial serial(USBTX, USBRX); // tx, rx
 
+//BLE breakout
 SPI spi(D11, D12, D13);
-
-//DigitalOut BIN2(D3);
-//DigitalOut BIN1(D4);
-//PwmOut PWMB(D6);
-//DigitalOut stdby(D9);
-//
-//TB6612 motorB(D6,D3,D4);    // PWMA,AIN1,AIN2
-float distance = 0;
-float raw = 0;
-
 DigitalInOut req(PTD0); // D10
 DigitalInOut rdy(PTD4); // D2 needs a different pin
 DigitalInOut rst(PTD5); // D9
 
+//Motor driver
+DigitalOut BIN2(D3);
+DigitalOut BIN1(D4);
+PwmOut PWMB(D6);
+DigitalOut stdby(D14);
+TB6612 motorB(D6,D3,D4);    // PWMA,AIN1,AIN2
+
+//Ultrasonic
+float distance = 0;
+float raw = 0;
+int dropped = 0;
+DigitalOut ultra_trigger(D8);
+AnalogIn ultra_out(A0);
+
 BLEProperty read = BLERead;
 BLEProperty write = BLEWrite;
 BLEProperty notify = BLENotify;
@@ -35,16 +43,17 @@
 BLECharacteristic netDropChrc = BLECharacteristic("fbb3136a-fe49-445b-a612-2019d1b33a6c",read | write,1,1);
 BLECharacteristic netDisarmedChrc = BLECharacteristic("f80fb006-0e8e-412c-8a92-19fe85328daa",read | write | notify,1,1);
 
-int main(){
+int main()
+{
     serial.printf("starting something\r\n");
     led1 = 1;
     led2 = 1;
     led3 = 1;
-//    led1 = 0;
-//    led2 = 0;
- //   ultra_trigger = 1;
-//    motorB = 0.0;
-//    stdby = 1;
+
+    ultra_trigger = 1;
+    motorB = 0.0;
+    stdby = 1;
+    
     blePeripheral.setLocalName("NETTRAP");
     blePeripheral.setDeviceName("net trap peripheral!");
     blePeripheral.setAdvertisedServiceUuid(service.uuid());
@@ -59,30 +68,46 @@
     netDropChrc.setValue(bufFalse);
     netDisarmedChrc.setValue(bufFalse);
     serial.printf("set up characteristic values\r\n");
-    
+
     blePeripheral.begin();
     serial.printf("began peripheral supposedly\r\n");
-        while(true) {
-            blePeripheral.poll();
-        }
-//    while(true){
-
-//        blePeripheral.poll();
-//        motorB = 0.0;
-// //       raw = ultra_out;
-// //       distance = (ultra_out * 5) / 0.0098 ;
-//        serial.printf("%1.3f %1.3f \n", raw, distance); 
-//        if (distance < 10){
-//            motorB = 1.0;  
-//        }
-//        wait(3);
- //    }
     
-}
     
     
+    while(true) {
+
+        
+        if (*netDropChrc.value() == 'f') {
+            if (*netDisarmedChrc.value()== 't') {
+            dropped = 1; 
+            }
+            else {
+            dropped = 0;
+            }
+        }
+        
+        else {
+            dropped = 1;
+            }
+     
+        blePeripheral.poll();
+        motorB = 0.0;
+        raw = ultra_out;
+        distance = (ultra_out * 5) / 0.0098 ;
+        serial.printf("%1.3f %1.3f \n", raw, distance);
+        if (distance < 20 && dropped == 0) {
+            motorB = 1.0;
+            netDropChrc.setValue(bufTrue);
+            dropped = 1;
+        }
+        wait(1);
+    }
+
+}
 
 
 
 
 
+
+