Diff: main.cpp

Revision:

1:f77859e74071

Parent:

0:bdd449e55907

--- a/main.cpp	Mon Feb 27 12:45:08 2017 +0000
+++ b/main.cpp	Fri Mar 03 17:09:31 2017 +0000
@@ -4,45 +4,113 @@
    
  
 I2CSlave slave(D14, D15);
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+PwmOut pwmNO(D9);
+DigitalOut dirNO(D7);
+PwmOut pwmNE(D10);
+DigitalOut dirNE(D8);
+
+float power_NO = 0.0;
+float power_NE = 0.0;
+
  
  int main() {
      
      DigitalOut myLED (LED2);
+     
+     pc.printf("Hello!\n");
+     
+    pwmNO.period_us(1000);
+    pwmNE.period_us(1000);
+    dirNO=0;
+    dirNE=1;
+    
+    pwmNO.pulsewidth_us(0);
+    pwmNE.pulsewidth_us(0);
   
 
-     
-     
-     slave.address(0x14);
-
- 
-     
-     char buf[10];
-     
-     
-   
+     const int addr = 0x10;
      
-     while (1) {
+     slave.address(addr);
+
+    char buf[1]; 
+    
+    while (1) {
          int i = slave.receive();
+       
          switch (i) {
-            // case I2CSlave::ReadAddressed:
+           // case I2CSlave::ReadAddressed:
                 
-              //   slave.write(5); // Includes null char
+           //      slave.write(5); // Includes null char
                 
-              //     myLED=0; 
-              //    break;
-             //case I2CSlave::WriteGeneral:
+           //     myLED=0; 
+           //      break;
+           //  case I2CSlave::WriteGeneral:
                  
                   //to implement
              case I2CSlave::WriteAddressed:
             
-                 slave.read(buf, 10);
-                
-                if (buf ==1){
-                    myLED=1; 
-                }
+                 slave.read(buf, 1);
+        char c= buf[0]+48;       
+                 
+        if((c == '1') && (power_NO < 0.8)) {
+            power_NO += 0.2;
+            pc.printf("Gauche Up!\n");
+        }
+        if((c == '2') && (power_NO > -0.8)) {
+            power_NO -= 0.2;
+            pc.printf("Gauche Down!\n");
+        }
+        if((c == '3') && (power_NE < 0.8)) {
+            power_NE += 0.2;
+            pc.printf("Droite Up!\n");
+        }
+        if((c == '4') && (power_NE > -0.8)) {
+            power_NE -= 0.2;
+            pc.printf("Droite Down!\n");
+        }
+        if((c == '5') && (power_NO < 0.8) && (power_NE < 0.8)) {
+            power_NO += 0.2;
+            power_NE += 0.2;
+            pc.printf("Gauche Droite Up!\n");
+        }
+        if((c == '6') && (power_NO > -0.8)&& (power_NE > -0.8)) {
+            power_NO -= 0.2;
+            power_NE -= 0.2;
+            pc.printf("Gauche Droite Down!\n");
+        }
+        if((c == '7')) {
+            power_NO = 0;
+            power_NE = 0;
+            pc.printf("Stop!\n");
+        } 
+        
+
+
+
+
+        if(power_NO>0){
+            dirNO=0;
+            pwmNO.pulsewidth_us(1000*power_NO);
+        } else {
+            dirNO=1;
+            pwmNO.pulsewidth_us(-1000*power_NO);
+        }
+        if(power_NE>0){
+            dirNE=1;
+            pwmNE.pulsewidth_us(1000*power_NE);
+        } else {
+            dirNE=0;
+            pwmNE.pulsewidth_us(-1000*power_NE);
+        }
+        
+        
+        wait(0.1);
                  
                  break;
          }
-        for(int i = 0; i < 10; i++) buf[i] = 0;    // Clear buffer
+        for(int i = 0; i < 1; i++) buf[i] = 0;    // Clear buffer
      }
  }