Diff: main.cpp

Revision:

0:d789af71fbc6

Child:

1:6ae7ff29d054

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Aug 26 08:44:58 2019 +0000
@@ -0,0 +1,55 @@
+#include "mbed.h"
+#include "IRsensor.h"
+#include "TFmini.h"
+#include "QEI.h"
+#include "SerialMultiByte.h"
+#include "pinconfig.h"
+
+union UnionBytes{
+    uint8_t bytes[28];
+    float IRdistance[7];    //0~1
+    uint32_t TFdistance[7]; //2~3
+    uint32_t pulses[7];     //4~6
+};
+
+IRsensor ir[] = {
+    IRsensor(IR_0),
+    IRsensor(IR_1)
+};
+
+TFmini tf[] = {
+    TFmini(TF0_TX, TF0_RX),
+    TFmini(TF1_TX, TF0_RX)
+};
+
+QEI loli[] = {
+    QEI(encoder_0A, encoder_0B, NC, 100, QEI::X4_ENCODING),
+    QEI(encoder_1A, encoder_1B, NC, 100, QEI::X4_ENCODING),
+    QEI(encoder_2A, encoder_2B, NC, 100, QEI::X4_ENCODING)
+};
+
+SerialMultiByte serial(mainTX, mainRX);
+
+int main()
+{
+    UnionBytes bytedata;
+    for(int i=0; i<28; i++){
+        bytedata.bytes[i] = 0;
+    }
+    for(int i=0; i<2; i++){
+        ir[i].startAveraging(10);
+    }
+    while (true) {
+        for(int i=0; i<2; i++){
+            bytedata.IRdistance[i] = ir[i].get_Averagingdistance();
+        }
+        for(int i=0; i<2; i++){
+            bytedata.TFdistance[i+2] = tf[i].getDistance();
+        }
+        for(int i=0; i<3; i++){
+            bytedata.pulses[i+4] = loli[i].getPulses();
+        }
+        serial.sendData(bytedata.bytes, 28);
+    }
+}
+