Diff: main.cpp

Revision:

3:6484736ff515

Parent:

2:ff7c5f9ba765

Child:

4:79adbd22ee27

--- a/main.cpp	Thu Dec 08 13:49:21 2016 +0000
+++ b/main.cpp	Fri Dec 09 11:55:50 2016 +0000
@@ -1,6 +1,8 @@
 #include "mbed.h"
 #include <string>
 #include <cstring>
+//#include "rtos.h"
+#include "motordriver.h"
 Serial bt(p28,p27);//tx,rx
 Serial TAG(p9,p10);//tx,rx
 Serial pc(USBTX,USBRX);
@@ -8,6 +10,7 @@
 
 void read_line();
 void Rx_interrupt();
+void move(char in);
 // Circular buffers for serial TX and RX data - used by interrupt routines
 const int buffer_size = 255;
 // might need to increase buffer size for high baud rates
@@ -20,6 +23,50 @@
 bool flag1=false, flag2=false, flag3=false;
 string str;
 
+Motor L(p21, p23, p22, 1); // pwm, fwd, rev, can brake ,right
+Motor R(p26, p24, p25, 1); // pwm, fwd, rev, can brake ,left
+
+
+void move(char in){
+    char ch[1]={'s'};
+    ch[0] = in;
+   // while(1) {
+        //pc.printf("ch[0]= %s\n\r",ch);
+     /*   if(bt.readable ()){
+            ch[0]=bt.getc();
+            //pc.printf("string1 = %s\n\r",ch);
+        } */
+        switch(ch[0]){
+        case 'w':
+            //前進
+            R.speed(0.7),L.speed(1);
+        break;   
+        case 'a':
+            //左轉
+            R.speed(0.7),L.speed(0);
+        break;
+        case 's':
+            //停住
+            R.stop(0.3),L.stop(0.3);
+        break;
+        case 'd':
+            //右轉
+            R.speed(0),L.speed(0.711qqqa);
+        break;
+        case 'x':
+            //backward
+            R.speed(-0.7),L.speed(-1);
+        break;
+        case 'm':
+            //自走車
+        break;
+       }  
+   // }
+
+
+    
+    
+}
 //std::string.
 int main() {
     bt.baud(38400);
@@ -29,8 +76,10 @@
     bt.printf("bt hello\n\r");
     
     TAG.attach(&Rx_interrupt, Serial::RxIrq);
-     
-     
+    char ch = 's' ;
+    //Thread thread(move_thread);
+    //thread.set_priority(osPriorityLow);
+    
     while(1) {
    
     
@@ -64,6 +113,15 @@
             bt.printf("%s\n",str);
         }
         
+        
+        if(bt.readable())
+            ch=bt.getc();
+        move(ch);    
+        
+        
+        
+        
+        
     }
 }
 // Read a line from the large rx buffer from rx interrupt routine