Diff: main.cpp

Revision:

0:c5a6d47904dc

Child:

1:6dd9eca697db

diff -r 000000000000 -r c5a6d47904dc main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jun 08 16:04:32 2016 +0000
@@ -0,0 +1,112 @@
+#include "mbed.h"
+#include "TSISensor.h"
+#include "MMA8451Q.h"
+
+#define MMA8451_I2C_ADDRESS (0x1d<<1)
+Serial pc(USBTX, USBRX); // tx, rx
+
+int main()
+{
+    PwmOut gled(LED_GREEN);
+    TSISensor tsi;
+    MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
+    DigitalOut lefthigh(PTC11);
+    DigitalOut leftlow(PTC9);
+    DigitalOut righthigh(PTC6);
+    DigitalOut rightlow(PTA5);
+    DigitalOut forwardhigh(PTC16);
+    DigitalOut forwardlow(PTD0);
+    DigitalOut backwardhigh(PTA17);
+    DigitalOut backwardlow(PTD1);
+
+
+    bool right;
+    bool forward;
+
+
+    while (1) {
+
+        wait(0.2);
+        float accX=acc.getAccX();
+        printf("x=%0.3f\r\n",accX);
+        if (tsi.readPercentage() != 0) {
+            gled = 1.0 - tsi.readPercentage();
+        }
+
+        if((accX <= 0.1f) && (accX >= -0.1f)) {
+            printf("A \r\n");
+            if (right == true) {
+                printf("B \r\n");
+                righthigh = 0;
+                rightlow = 1;
+            } else {
+                printf("C \r\n");
+                lefthigh = 0;
+                leftlow = 1;
+            }
+            //}
+
+            if (accX > 0.1) {
+                printf("D \r\n");
+                lefthigh = 1;
+                leftlow = 1;
+                righthigh = 0;
+                rightlow = 1;
+                forwardhigh = 1;
+                forwardlow = 1;
+                backwardhigh = 1;
+                backwardlow = 1;
+                right = true;
+            }
+
+            if (accX < -0.1) {
+                printf("E \r\n");
+                lefthigh = 0;
+                leftlow = 1;
+                righthigh = 1;
+                rightlow = 1;
+                forwardhigh = 1;
+                forwardlow = 1;
+                backwardhigh = 1;
+                backwardlow = 1;
+                right = false;
+            }
+            wait(0.1);
+        }
+
+
+        if((acc.getAccY() <= 0.1) && (acc.getAccY() >= -0.1)) {
+            if (forward == true) {
+                forwardhigh = 0;
+                forwardlow = 1;
+            } else
+                backwardhigh = 0;
+            backwardlow = 1;
+        }
+
+        if (acc.getAccY() > 0.1) {
+            lefthigh = 1;
+            leftlow = 1;
+            righthigh = 1;
+            rightlow = 1;
+            forwardhigh = 0;
+            forwardlow = 1;
+            backwardhigh = 1;
+            backwardlow = 1;
+            forward = true;
+        }
+
+        if (acc.getAccY() < -0.1) {
+            lefthigh = 1;
+            leftlow = 1;
+            righthigh = 1;
+            rightlow = 1;
+            forwardhigh = 1;
+            forwardlow = 1;
+            backwardhigh = 0;
+            backwardlow = 1;
+            forward = false;
+        }
+        wait(0.1);
+    }
+}