Diff: main.cpp

Revision:

0:5d4d21d56334

Child:

1:4e0e4d0363d9

diff -r 000000000000 -r 5d4d21d56334 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 12 13:04:33 2021 +0000
@@ -0,0 +1,119 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2019 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "mbed.h"
+#include "platform/mbed_thread.h"
+#include "SDBlockDevice.h"
+#include "FATFileSystem.h"
+#include "EncoderCounter.h"
+#include "Servo.h"
+#include "Controller.h"
+
+
+// Blinking rate in milliseconds
+#define BLINKING_RATE_MS                                                    500
+
+
+int main()
+{
+    
+    DigitalIn user_button(USER_BUTTON);
+    
+    // initialise PWM
+    PwmOut pwm_motor1(PB_13);
+    PwmOut pwm_motor2(PA_9);
+    PwmOut pwm_motor3(PA_10);
+    
+    // crete Encoder read objects
+    EncoderCounter counter1(PA_6, PC_7); // counter(pin A, pin B)
+    EncoderCounter counter2(PB_6, PB_7);
+    EncoderCounter counter3(PA_0, PA_1);
+    
+    // create controller
+    Controller controller(pwm_motor1, pwm_motor2, counter1, counter1);
+    
+    DigitalOut enable(PB_15);
+    
+    // create servo objects
+    Servo  S0(PB_2);
+    Servo  S1(PC_8);
+    Servo  S2(PC_6);
+    
+    SDBlockDevice sd(PC_12, PC_11, PC_10, PD_2);
+    printf("BlockDevice created\r\n"); 
+    FATFileSystem fs("fs", &sd);
+    
+    // Initialise the digital pin LED1 as an output
+    DigitalOut myled(LED1);
+    
+    
+    
+    // initialise PWM
+    pwm_motor1.period(0.00005f);// 0.05ms 20KHz
+    pwm_motor1.write(0.5f);
+    pwm_motor2.period(0.00005f);// 0.05ms 20KHz
+    pwm_motor2.write(0.5f);
+    pwm_motor3.period(0.00005f);// 0.05ms 20KHz
+    pwm_motor3.write(0.5f);
+    
+    // initialise and test Servo
+    S0.Enable(1000,20000);
+    S1.Enable(1000,20000);
+    S2.Enable(1000,20000);
+    
+    printf("Test writing... ");
+    FILE* fp = fopen("/fs/data.csv", "w");
+    fprintf(fp, "test %.5f\r\n",1.23);
+    fclose(fp);
+    printf("done\r\n");
+    
+    printf("Test reading... ");
+    // read from SD card
+    fp = fopen("/fs/data.csv", "r");
+    if (fp != NULL) {
+        char c = fgetc(fp);
+        if (c == 't')
+            printf("done\r\n");
+        else
+            printf("incorrect char (%c)!\n", c);
+        fclose(fp);
+    } else {
+        printf("Reading failed!\n");
+    }
+    
+    // enable driver DC motors
+    enable = 1;
+
+    while (true) {
+        
+        if(!user_button) {
+            // LED off, set controller speed, pwm2, position servo
+            myled = 0;
+            controller.setDesiredSpeedLeft(50.0f);
+            controller.setDesiredSpeedRight(50.0f);
+            pwm_motor3.write(0.9f);
+
+            S0.SetPosition(1200);
+            S1.SetPosition(1200);
+            S2.SetPosition(1200);
+
+        } else {
+            // LED on, reset controller speed, pwm2, position servo
+            myled = 1;
+            controller.setDesiredSpeedLeft(0.0f);
+            controller.setDesiredSpeedRight(0.0f);
+            pwm_motor3.write(0.5f);
+
+            S0.SetPosition(1900);
+            S1.SetPosition(1900);
+            S2.SetPosition(1900);
+
+        }
+        
+        printf("counter1 = %d counter2 = %d counter3 = %d\r\n",counter1.read(), counter2.read(), counter3.read());
+        
+        thread_sleep_for(BLINKING_RATE_MS);
+    }
+}