Diff: main.cpp

Revision:

0:8ee013fa99a5

Child:

1:7198bf0747eb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Aug 27 19:09:49 2019 +0000
@@ -0,0 +1,107 @@
+#include "mbed.h"
+
+PwmOut pwm(p25);
+DigitalOut dir (p26);
+PwmOut pwm1(p24);
+DigitalOut dir1 (p23);
+DigitalIn button(p18);
+DigitalOut led(p20);
+
+Serial bt(p28, p27);
+
+InterruptIn A (p21);
+DigitalIn B (p22);
+
+Ticker END;
+
+int rightCount = 0;
+int lastCount = 0;
+
+
+void rightEncoderEvent (){
+        if (B.read() == 0){
+            rightCount++;
+        }
+        
+        else{
+            rightCount--;
+        }
+}
+
+void Speed (void) {
+
+    int realSpeed = (rightCount - lastCount);
+    lastCount = rightCount;
+    bt.printf("\n\rCount: %d ## Speed: %d",rightCount,realSpeed);
+        
+}
+
+int main() {
+    
+    char ch;
+    int speed = 1;
+    bt.baud(9600);
+    A.rise(&rightEncoderEvent);
+    
+    END.attach(&Speed, 1.0);
+
+    pwm.period(0.01f);
+    pwm1.period(0.01f);
+    
+    while (button.read()) {led = 1; wait(0.2); led=0; wait(0.2); }
+    
+    wait(2);
+    
+    pwm.write(0.0f);
+    pwm1.write(0.0f);
+    
+    while(1) { 
+    
+    if(bt.readable())
+        {
+            ch=bt.getc();
+            
+            if (ch == 'l') { led = !led;}
+            if (ch == 'w') { dir = 0; dir1 = 0; pwm.write((0.2*speed)); pwm1.write((0.2*speed)); wait (0.02);}
+            if (ch == 's') { dir = 1; dir1 = 1; pwm.write((0.2*speed)); pwm1.write((0.2*speed)); wait(0.02);}
+            if (ch == 'a') { dir = 0; dir1 = 1; pwm.write((0.2*speed)); pwm1.write((0.2*speed)); wait(0.02);}
+            if (ch == 'd') { dir = 1; dir1 = 0; pwm.write((0.2*speed)); pwm1.write((0.2*speed)); wait(0.02);}
+            if (ch == 'r') { 
+            bt.printf("\n\rChose speed: "); 
+            
+            while(bt.readable()) {}
+            ch =  bt.getc();
+            speed = (int)ch - 48;
+            bt.printf("\n\rActual speed: %d\n",speed);}
+            
+            //bt.printf("%c",ch);
+            
+            
+        }
+        //bt.printf("Count: ");
+        //bt.printf("%d",rightCount);
+        //bt.printf("\r\n");
+        /*
+            if (ch == 'S') { dir = 0; dir1 = 0; pwm.write(0.0f); pwm1.write(0.0f); }
+            if (ch == 'F') { dir = 0; dir1 = 0; pwm.write(0.2f); pwm1.write(0.2f); }
+            if (ch == 'G') { dir = 1; dir1 = 1; pwm.write(0.2f); pwm1.write(0.2f); }
+            if (ch == 'L') { dir = 0; dir1 = 1; pwm.write(0.2f); pwm1.write(0.2f); }
+            if (ch == 'R') { dir = 1; dir1 = 0; pwm.write(0.2f); pwm1.write(0.2f); }
+        */
+        pwm.write(0.0f);
+    pwm1.write(0.0f);
+    
+        
+        /*wait(0.5);  
+        dir = 1;
+        dir1 = 1;
+        pwm.write(0.5f);
+        pwm1.write(0.5f);
+        wait(0.5);  
+        dir = 0;
+        dir1 = 0;
+        pwm.write(0.5f);
+        wait(0.5);*/
+        
+    }
+}