Diff: Main.cpp

Revision:

1:08ca9b208045

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Main.cpp	Fri Mar 31 11:00:19 2017 +0000
@@ -0,0 +1,76 @@
+/*
+ * Main.cpp
+ * Copyright (c) 2017, ZHAW
+ * All rights reserved.
+ */
+
+#include <cstdlib>
+#include <mbed.h>
+#include "IRSensor.h"
+#include "EncoderCounter.h"
+#include "Controller.h"
+#include "StateMachine.h"
+
+using namespace std;
+
+/**
+ * This is the main program of the mobile robot control software.
+ */
+int main() {
+    
+    // create and initialize miscellaneous periphery objects
+    
+    DigitalOut led(LED1);
+    DigitalIn button(USER_BUTTON);
+    
+    DigitalOut led0(PC_8);
+    DigitalOut led1(PC_6);
+    DigitalOut led2(PB_12);
+    DigitalOut led3(PA_7);
+    DigitalOut led4(PC_0);
+    DigitalOut led5(PC_9);
+    
+    // create distance sensor objects
+    
+    DigitalOut enableIRSensors(PC_1);
+    enableIRSensors = 1;
+    
+    AnalogIn distance(PB_1);
+    DigitalOut bit0(PH_1);
+    DigitalOut bit1(PC_2);
+    DigitalOut bit2(PC_3);
+    
+    IRSensor irSensor0(distance, bit0, bit1, bit2, 0);
+    IRSensor irSensor1(distance, bit0, bit1, bit2, 1);
+    IRSensor irSensor2(distance, bit0, bit1, bit2, 2);
+    IRSensor irSensor3(distance, bit0, bit1, bit2, 3);
+    IRSensor irSensor4(distance, bit0, bit1, bit2, 4);
+    IRSensor irSensor5(distance, bit0, bit1, bit2, 5);
+    
+    // create motor control objects
+    
+    DigitalOut enableMotorDriver(PB_2);
+    DigitalIn motorDriverFault(PB_14);
+    DigitalIn motorDriverWarning(PB_15);
+    
+    PwmOut pwmLeft(PA_8);
+    PwmOut pwmRight(PA_9);
+    
+    EncoderCounter counterLeft(PB_6, PB_7);
+    EncoderCounter counterRight(PA_6, PC_7);
+    
+    // create robot controller objects
+    
+    Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
+    StateMachine stateMachine(controller, enableMotorDriver, led0, led1, led2, led3, led4, led5, button, irSensor0, irSensor1, irSensor2, irSensor3, irSensor4, irSensor5);
+    
+    // enter main loop
+    
+    while (true) {
+        
+        led = !led;
+        
+        wait((stateMachine.getState() != StateMachine::ROBOT_OFF) ? 0.1f : 0.2f);
+    }
+}
+