main.cpp

00001 #include "mbed.h"
00002 #include "Bumper.hpp"
00003 #include "TargetHitCallback.hpp"
00004 #include "TestTargetManager.hpp"
00005 #include "TargetMissedCallback.hpp"
00006 #include "NerfusTicker.hpp"
00007 
00008 int main() 
00009 {
00010     printf("Start TargetManager manual test\r\n");
00011     printf("Instruction:\r\n");
00012     printf("\tNerfusTicker works if target #0 is missed by default and target #1 is always hit\r\n");
00013     printf("\tBumper works if a target hit is printed when you click the limit switch\r\n");
00014     printf("\t\tLimit switch connections: C(p5), NO(VCC), NC(GND)\r\n");
00015     
00016     PinName bumper_pin_0 = p5;
00017     PinName bumper_pin_1 = p6;
00018     
00019     //Tickers
00020     NerfusTicker target_timeout_ticker_0;
00021     NerfusTicker target_timeout_ticker_1;
00022     std::vector<NerfusTickerInterface*> tickers;
00023     tickers.push_back(&target_timeout_ticker_0);
00024     tickers.push_back(&target_timeout_ticker_1);
00025 
00026     TestTargetManager target_manager(tickers);
00027     
00028     TargetMissedCallback target_missed_callback_0(target_manager, 0);
00029     TargetMissedCallback target_missed_callback_1(target_manager, 1);
00030     target_timeout_ticker_0.init(&target_missed_callback_0);
00031     target_timeout_ticker_1.init(&target_missed_callback_1);
00032     
00033     TargetHitCallback target_hit_callback_0(target_manager, 0);
00034     TargetHitCallback target_hit_callback_1(target_manager, 1);
00035     Bumper bumper_0(bumper_pin_0, target_hit_callback_0);
00036     Bumper bumper_1(bumper_pin_1, target_hit_callback_1);
00037     
00038     while(true)
00039     {
00040         target_timeout_ticker_0.start(500);
00041         target_timeout_ticker_1.start(1000);
00042         wait_ms(750);
00043         bumper_1.bumped();
00044         wait_ms(1500);
00045     }
00046 }