Bead pushing buggy

Dependencies:   Movement mbed tunes motor pwm_tone clickers Ultra

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main.cpp

00001 #include "mbed.h"
00002 #include "motor.h"
00003 #include "UltraSonic.h"
00004 #include "tunes.h"
00005 #include "clickers.h"
00006 #include "Movement.h"
00007 #define TIME_PERIOD 2             //Constant compiler Values here 2 equates to 2ms or 500Hz base Frequency
00008 #define DUTY 0.9                  //DUTY of 1.0=100%, 0.4=40% etc.,
00009 
00010 DigitalIn microswitch1(D4);       //Instance of the DigitalIn class called 'microswitch1'
00011 DigitalIn microswitch2(D3);       //Instance of the DigitalIn class called 'microswitch2'
00012 Motor Wheel(D13,D11,D9,D10);      //Instance of the Motor Class called 'Wheel' see motor.h and motor.cpp 
00013 DigitalIn myButton(USER_BUTTON);  //USER_BUTTON is the Blue Button on the NUCLEO Board
00014 DigitalOut led(LED3);             //LED1 is the Green LED on the NUCLEO board
00015                                   //N.B. The RED LED is the POWER Indicator
00016                                   //and the Multicoloured LED indicates status of the ST-LINK Programming cycle
00017 
00018 Serial pc(USBTX,USBRX);           //Instance of the Serial class to enable much faster BAUD rates then standard 9600 i.e. 115200
00019                                   //This is Pseudo RS232 over USB the NUCLEO will appear as a COMx Port see device Manager on PC used
00020                                   //Use PuTTY to monitor check COMx and BAUD rate (115200)
00021 int mm; //This variable will hold the distance in mm between the buggy and the object infront of it 
00022 bool fStopped, rStopped = false;// these variables are used to determine weather the buggy has been stopped, either from going forwards or backwards
00023 
00024 void dist(){//This function will get the distance in mm and set the mm variable to this value
00025     ultra_sonic_distance();
00026     mm = (int)GetDistance();
00027 }
00028 int main ()
00029 {
00030     pc.baud(9600);               //BAUD Rate to 9600
00031     pc.printf("ROCO104 Demonstration Robot Buggy Plymouth University 2018/19\n\r");
00032     Wheel.Period_in_ms(TIME_PERIOD);//Set frequency of the PWMs
00033     Wheel.Stop();
00034     
00035     close_encounter(1);     //tune to play Announce start!
00036     //twinkle(1);           //see tunes.h for alternatives or make your own!
00037     //jingle_bells(1);
00038     
00039     while(myButton==0)
00040     {                       //Wait here for USER Button (Blue) on Nucleo Board (goes to zero when pressed)
00041         led=0;              //and flash green LED whilst waiting
00042         wait(0.1);
00043         led=1; 
00044         wait(0.1);
00045         //Test Microswitches with two different tones see tunes.cpp tunes.h or flash (led1 and led2) onboard LEDs
00046     }
00047     Wheel.Period_in_ms(2);//Set frequency of the PWMs 500Hz
00048     
00049     while(true)                             //Repeat the following forever NB always true!
00050     {
00051         Direction();// run the Direction function in the Movement library
00052     } // go back to start of while loop
00053 }  //end of int main()