Puppet Master System
/
Robot_Puppet_EndDevice_Final
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Robot_Puppet_EndDevice
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Puppet Master System
Diff: main.cpp
- Revision:
- 0:a66bf82d70ed
- Child:
- 1:06beb0d8958a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Apr 26 15:37:12 2018 +0000
@@ -0,0 +1,151 @@
+// test code, this demonstrates working motor drivers.
+// full reverse to full stop, dynamicaly brake and switch off.
+#include "mbed.h"
+#include "Motor.h"
+Motor A(p22, p6, p5); // pwm, fwd, rev, can brake
+Motor B(p21, p7, p8); // pwm, fwd, rev, can brake
+
+
+//End Device Setup for XBEE End Device
+Serial xbee2(p9,p10);
+DigitalOut rst1(p11);
+
+//Movement Indicators
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED2);
+DigitalOut myled4(LED2);
+
+// Default Value for command to wait
+char command = 'W';
+
+int main() {
+ rst1 = 0; //Set reset pin to 0
+ myled1 = 0;
+ myled2 = 0;
+ myled3 = 0;
+ myled4 = 0;
+ wait_ms(1);
+ rst1 = 1; //Set reset pin to 1
+ wait_ms(1);
+
+ while (1){
+ if(xbee2.readable()) {//if new command readable
+ command = xbee2.getc();
+ //pc.printf("Command: %c\n\r",command);
+ }
+
+ switch (command){
+ case 'A': // Move back speed 1
+ A.speed(-0.5);
+ B.speed(-0.5);
+
+ myled1 = 1;
+ myled2 = 0;
+ myled3 = 0;
+ myled4 = 0;
+
+ wait(0.5);
+ break;
+ case 'B': // Move back speed 2
+ A.speed(-1);
+ B.speed(-1);
+
+ myled1 = 1;
+ myled2 = 0;
+ myled3 = 0;
+ myled4 = 0;
+
+ wait(0.5);
+ break;
+ case 'C': // Move right speed 1
+ A.speed(0.5);
+ B.speed(0);
+
+ myled1 = 0;
+ myled2 = 1;
+ myled3 = 0;
+ myled4 = 0;
+
+ wait(0.5);
+ break;
+ case 'D': // Move right speed 2
+ A.speed(1);
+ B.speed(0);
+
+ myled1 = 0;
+ myled2 = 1;
+ myled3 = 0;
+ myled4 = 0;
+
+ wait(0.5);
+ break;
+ case 'E': // Move forward speed 1
+ A.speed(0.5);
+ B.speed(0.5);
+
+ myled1 = 0;
+ myled2 = 0;
+ myled3 = 1;
+ myled4 = 0;
+
+ wait(0.5);
+ break;
+ case 'F': // Move forward speed 2
+ A.speed(1);
+ B.speed(1);
+
+ myled1 = 0;
+ myled2 = 0;
+ myled3 = 1;
+ myled4 = 0;
+
+ wait(0.5);
+ break;
+ case 'G': // Move left speed 1
+ A.speed(0);
+ B.speed(0.5);
+
+ myled1 = 0;
+ myled2 = 0;
+ myled3 = 0;
+ myled4 = 1;
+
+ wait(0.5);
+ break;
+ case 'H': // Move left speed 2
+ A.speed(0);
+ B.speed(1);
+
+ myled1 = 0;
+ myled2 = 0;
+ myled3 = 0;
+ myled4 = 1;
+
+ wait(0.5);
+ break;
+ case 'I': // Stop
+ A.speed(-0.5);
+ B.speed(-0.5);
+
+ myled1 = 1;
+ myled2 = 1;
+ myled3 = 1;
+ myled4 = 1;
+
+ wait(0.5);
+
+ case 'W': // Stop if nothing else is coming in
+ A.speed(0);
+ B.speed(0);
+
+ myled1 = 0;
+ myled2 = 0;
+ myled3 = 0;
+ myled4 = 0;
+
+ wait(0.5);
+
+ }
+ }
+}
\ No newline at end of file