Diff: main.cpp

Revision:

0:1cb50d31c3b5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 25 21:27:03 2016 +0000
@@ -0,0 +1,123 @@
+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  Julien Tiron, FIP Télécom Bretagne
+ * @version V1.0.0
+ * @date    March 23th, 2016
+ * @brief   DoorCloser robot main code
+ ******************************************************************************
+ **/
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "mbed.h"
+#include "DevSPI.h"
+#include "l6474_class.h"
+#include "DevI2C.h"
+#include "vl6180x_class.h"
+
+/* Definitions ---------------------------------------------------------------*/
+
+#define VL6180X_ADDRESS 0x29
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Start and  Stop Component */
+InterruptIn startup(PC_1);
+Ticker game_length;
+volatile bool start = 1;
+volatile bool end = 1;
+
+/* Motor Control Component */
+L6474 *motor1;
+L6474 *motor2;
+
+/* Distance Sensors Component */
+DevI2C *i2c =new DevI2C(D14, D15); 
+VL6180X sensor1(i2c);
+VL6180X sensor2(i2c);
+VL6180X sensor3(i2c);
+
+/* Functions -----------------------------------------------------------------*/
+
+void go()
+{
+    start = 0;
+}
+
+void stop()
+{
+    end = 0;
+}
+
+void init_sensor(){
+    
+}
+    
+void switch_sensor(int number){
+    
+}
+
+/* Main ----------------------------------------------------------------------*/
+
+int main()
+{
+    /*----- Initialization. -----*/
+
+    /* Initializing SPI bus. */
+    DevSPI dev_spi(D11, D12, D13);
+
+    /* Initializing Motor Control Components. */
+    motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
+    motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
+    if (motor1->Init() != COMPONENT_OK)
+        exit(EXIT_FAILURE);
+    if (motor2->Init() != COMPONENT_OK)
+        exit(EXIT_FAILURE);
+
+    /* Interrupt to start the robot */
+    startup.fall(&go);
+    
+    /* Interrupt to stop the robot */
+    game_length.attach(&stop, 90); //1 minutes 30 secondes pour la Coupe
+
+    while(start) {
+        /* Waiting code */
+    }
+    
+    while(end) {
+        /* In-game code */
+        
+        /* Requesting to run backward. */
+        motor1->Run(StepperMotor::BWD);
+        motor2->Run(StepperMotor::FWD);
+
+        /* Waiting until delay has expired. */
+        wait_ms(3000);
+        
+        motor1->HardStop();
+        motor2->HardStop();
+
+        motor1->WaitWhileActive();
+        motor2->WaitWhileActive();
+        
+        /* Requesting to run backward. */
+        motor1->Run(StepperMotor::FWD);
+        motor2->Run(StepperMotor::BWD);
+
+        /* Waiting until delay has expired. */
+        wait_ms(3000);
+        
+        motor1->HardStop();
+        motor2->HardStop();
+
+        motor1->WaitWhileActive();
+        motor2->WaitWhileActive();
+    }
+    
+    motor1->HardStop();
+    motor2->HardStop();
+
+    motor1->WaitWhileActive();
+    motor2->WaitWhileActive();
+}