Soft robot team / Mbed OS Robot_team1

Robot team project

Dependencies:   QEI Motordriver ros_lib_melodic

main.cpp@4:cb50c6fa340b, 2019-10-22 (annotated)

Committer:
florine_van
Date:
Tue Oct 22 11:52:32 2019 +0000
Revision:
4:cb50c6fa340b
Parent:
3:a3144a45f44c
Child:
5:8ef79eebbc97
Use float instead of integer for sensor readings

Who changed what in which revision?

UserRevisionLine numberNew contents of line
florine_van 0:57855aafa907 1 #include "mbed.h"
florine_van 0:57855aafa907 2 #include "Sensor.h"
florine_van 0:57855aafa907 3
florine_van 0:57855aafa907 4 // Set up serial to pc
florine_van 0:57855aafa907 5 Serial pc(SERIAL_TX, SERIAL_RX);
florine_van 0:57855aafa907 6
florine_van 0:57855aafa907 7 // Set up I²C on the STM32 NUCLEO-401RE
florine_van 0:57855aafa907 8 #define addr1 (0x29)
florine_van 0:57855aafa907 9 #define addr2 (0x2A)
florine_van 0:57855aafa907 10 #define addr3 (0x2B)
florine_van 0:57855aafa907 11 #define addr4 (0x2C)
florine_van 0:57855aafa907 12
florine_van 0:57855aafa907 13 int main() {
florine_van 0:57855aafa907 14 int range1;
florine_van 1:d5adc483bce0 15 int range2;
florine_van 2:c537f1ebad7b 16 int range3;
florine_van 2:c537f1ebad7b 17 int range4;
florine_van 0:57855aafa907 18
florine_van 2:c537f1ebad7b 19 // Create sensors
florine_van 1:d5adc483bce0 20 Sensor sensor1(I2C_SDA, I2C_SCL, PC_9);
florine_van 1:d5adc483bce0 21 Sensor sensor2(I2C_SDA, I2C_SCL, PC_11);
florine_van 2:c537f1ebad7b 22 Sensor sensor3(I2C_SDA, I2C_SCL, PD_2);
florine_van 2:c537f1ebad7b 23 Sensor sensor4(I2C_SDA, I2C_SCL, PG_3);
florine_van 3:a3144a45f44c 24
florine_van 3:a3144a45f44c 25 // load settings onto VL6180X sensors
florine_van 1:d5adc483bce0 26 sensor2.init();
florine_van 3:a3144a45f44c 27 // change default address of sensor 2
florine_van 2:c537f1ebad7b 28 sensor2.changeAddress(addr2);
florine_van 2:c537f1ebad7b 29
florine_van 1:d5adc483bce0 30 sensor3.init();
florine_van 3:a3144a45f44c 31 // change default address of sensor 3
florine_van 2:c537f1ebad7b 32 sensor3.changeAddress(addr3);
florine_van 2:c537f1ebad7b 33
florine_van 1:d5adc483bce0 34 sensor4.init();
florine_van 3:a3144a45f44c 35 // change default address of sensor 4
florine_van 2:c537f1ebad7b 36 sensor4.changeAddress(addr4);
florine_van 2:c537f1ebad7b 37
florine_van 1:d5adc483bce0 38 sensor1.init();
florine_van 0:57855aafa907 39
florine_van 0:57855aafa907 40 while (1)
florine_van 0:57855aafa907 41 {
florine_van 0:57855aafa907 42 range1 = sensor1.read();
florine_van 0:57855aafa907 43 range2 = sensor2.read();
florine_van 2:c537f1ebad7b 44 range3 = sensor3.read();
florine_van 2:c537f1ebad7b 45 range4 = sensor4.read();
florine_van 0:57855aafa907 46
florine_van 0:57855aafa907 47 pc.printf("Range one = %d | range two = %d | range three = %d | range four = %d\r\n",range1, range2, range3, range4);
florine_van 4:cb50c6fa340b 48 wait_ms(10);
florine_van 0:57855aafa907 49 }
florine_van 0:57855aafa907 50 }
florine_van 0:57855aafa907 51