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Dependencies:   mbed

main.cpp@0:e679a1bb6eca, 2016-02-18 (annotated)

Committer:
joankangro
Date:
Thu Feb 18 16:58:28 2016 +0000
Revision:
0:e679a1bb6eca
Child:
1:94577052d858
We did not

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joankangro 0:e679a1bb6eca 1 #include "mbed.h"
joankangro 0:e679a1bb6eca 2
joankangro 0:e679a1bb6eca 3 //Pull everything up
joankangro 0:e679a1bb6eca 4 DigitalIn pull1(PTA1);
joankangro 0:e679a1bb6eca 5 DigitalIn pull2(PTA2);
joankangro 0:e679a1bb6eca 6 DigitalIn pull4(PTA12);
joankangro 0:e679a1bb6eca 7 DigitalIn pull5(PTA4);
joankangro 0:e679a1bb6eca 8 DigitalIn pull6(PTA5);
joankangro 0:e679a1bb6eca 9 DigitalIn pull7(PTC8);
joankangro 0:e679a1bb6eca 10
joankangro 0:e679a1bb6eca 11 DigitalIn pull9(PTA13);
joankangro 0:e679a1bb6eca 12 DigitalIn pull10(PTD5);
joankangro 0:e679a1bb6eca 13 DigitalIn pull11(PTD0);
joankangro 0:e679a1bb6eca 14 DigitalIn pull12(PTD2);
joankangro 0:e679a1bb6eca 15 DigitalIn pull13(PTD3);
joankangro 0:e679a1bb6eca 16 DigitalIn pull14(PTD1);
joankangro 0:e679a1bb6eca 17 DigitalIn pull15(PTE0);
joankangro 0:e679a1bb6eca 18 DigitalIn pull16(PTE1);
joankangro 0:e679a1bb6eca 19
joankangro 0:e679a1bb6eca 20 DigitalIn pull17(PTC7);
joankangro 0:e679a1bb6eca 21 DigitalIn pull18(PTC0);
joankangro 0:e679a1bb6eca 22 DigitalIn pull19(PTC3);
joankangro 0:e679a1bb6eca 23 DigitalIn pull20(PTC4);
joankangro 0:e679a1bb6eca 24
joankangro 0:e679a1bb6eca 25 DigitalIn pull21(PTC12);
joankangro 0:e679a1bb6eca 26 DigitalIn pull22(PTC13);
joankangro 0:e679a1bb6eca 27 DigitalIn pull23(PTC16);
joankangro 0:e679a1bb6eca 28 DigitalIn pull24(PTC17);
joankangro 0:e679a1bb6eca 29 DigitalIn pull25(PTA16);
joankangro 0:e679a1bb6eca 30 DigitalIn pull26(PTA17);
joankangro 0:e679a1bb6eca 31 DigitalIn pull27(PTE31);
joankangro 0:e679a1bb6eca 32 DigitalIn pull28(PTD6);
joankangro 0:e679a1bb6eca 33 DigitalIn pull29(PTD7);
joankangro 0:e679a1bb6eca 34
joankangro 0:e679a1bb6eca 35 DigitalIn pull30(PTE30);
joankangro 0:e679a1bb6eca 36
joankangro 0:e679a1bb6eca 37 DigitalIn pull34(PTE21);
joankangro 0:e679a1bb6eca 38 DigitalIn pull35(PTE20);
joankangro 0:e679a1bb6eca 39
joankangro 0:e679a1bb6eca 40 DigitalIn pull38(PTE3);
joankangro 0:e679a1bb6eca 41 DigitalIn pull39(PTE2);
joankangro 0:e679a1bb6eca 42
joankangro 0:e679a1bb6eca 43 DigitalIn pull47(PTB1);
joankangro 0:e679a1bb6eca 44 DigitalIn pull48(PTB0);
joankangro 0:e679a1bb6eca 45 DigitalIn pull49(PTA20);
joankangro 0:e679a1bb6eca 46
joankangro 0:e679a1bb6eca 47
joankangro 0:e679a1bb6eca 48
joankangro 0:e679a1bb6eca 49 //motor driver outputs
joankangro 0:e679a1bb6eca 50 DigitalOut IN4(PTC5);
joankangro 0:e679a1bb6eca 51 DigitalOut IN3(PTC6);
joankangro 0:e679a1bb6eca 52 DigitalOut IN2(PTC10);
joankangro 0:e679a1bb6eca 53 DigitalOut IN1(PTC11);
joankangro 0:e679a1bb6eca 54 PwmOut ENA(PTC9);
joankangro 0:e679a1bb6eca 55 PwmOut ENB(PTD4);
joankangro 0:e679a1bb6eca 56
joankangro 0:e679a1bb6eca 57 DigitalOut indicator(LED_BLUE);
joankangro 0:e679a1bb6eca 58
joankangro 0:e679a1bb6eca 59 //constant 3.3 volts for sensors
joankangro 0:e679a1bb6eca 60 DigitalOut constant1(PTE5);
joankangro 0:e679a1bb6eca 61 DigitalOut constant2(PTE4);
joankangro 0:e679a1bb6eca 62
joankangro 0:e679a1bb6eca 63 //line following inputs
joankangro 0:e679a1bb6eca 64 DigitalIn leftmost(PTE23);
joankangro 0:e679a1bb6eca 65 AnalogIn left(PTC2);
joankangro 0:e679a1bb6eca 66 AnalogIn middle(PTB2);
joankangro 0:e679a1bb6eca 67 AnalogIn right(PTB3);
joankangro 0:e679a1bb6eca 68 DigitalIn rightmost(PTE22);
joankangro 0:e679a1bb6eca 69
joankangro 0:e679a1bb6eca 70 //debugging led outputs
joankangro 0:e679a1bb6eca 71 DigitalOut ledleftmost(PTE29);
joankangro 0:e679a1bb6eca 72 DigitalOut ledright(PTB10);
joankangro 0:e679a1bb6eca 73 DigitalOut ledmiddle(PTB11);
joankangro 0:e679a1bb6eca 74 DigitalOut ledleft(PTB8);
joankangro 0:e679a1bb6eca 75 DigitalOut ledrightmost(PTB9);
joankangro 0:e679a1bb6eca 76
joankangro 0:e679a1bb6eca 77 int main() {
joankangro 0:e679a1bb6eca 78
joankangro 0:e679a1bb6eca 79 pull1.mode(PullUp);
joankangro 0:e679a1bb6eca 80 pull2.mode(PullUp);
joankangro 0:e679a1bb6eca 81 //pull3.mode(PullUp);
joankangro 0:e679a1bb6eca 82 pull4.mode(PullUp);
joankangro 0:e679a1bb6eca 83 pull5.mode(PullUp);
joankangro 0:e679a1bb6eca 84 pull6.mode(PullUp);
joankangro 0:e679a1bb6eca 85 pull7.mode(PullUp);
joankangro 0:e679a1bb6eca 86 //pull8.mode(PullUp);
joankangro 0:e679a1bb6eca 87 pull9.mode(PullUp);
joankangro 0:e679a1bb6eca 88 pull10.mode(PullUp);
joankangro 0:e679a1bb6eca 89 pull11.mode(PullUp);
joankangro 0:e679a1bb6eca 90 pull12.mode(PullUp);
joankangro 0:e679a1bb6eca 91 pull13.mode(PullUp);
joankangro 0:e679a1bb6eca 92 pull14.mode(PullUp);
joankangro 0:e679a1bb6eca 93 pull15.mode(PullUp);
joankangro 0:e679a1bb6eca 94 pull16.mode(PullUp);
joankangro 0:e679a1bb6eca 95 pull17.mode(PullUp);
joankangro 0:e679a1bb6eca 96 pull18.mode(PullUp);
joankangro 0:e679a1bb6eca 97 pull19.mode(PullUp);
joankangro 0:e679a1bb6eca 98 pull20.mode(PullUp);
joankangro 0:e679a1bb6eca 99 pull21.mode(PullUp);
joankangro 0:e679a1bb6eca 100 pull22.mode(PullUp);
joankangro 0:e679a1bb6eca 101 pull23.mode(PullUp);
joankangro 0:e679a1bb6eca 102 pull24.mode(PullUp);
joankangro 0:e679a1bb6eca 103 pull25.mode(PullUp);
joankangro 0:e679a1bb6eca 104 pull26.mode(PullUp);
joankangro 0:e679a1bb6eca 105 pull27.mode(PullUp);
joankangro 0:e679a1bb6eca 106 pull28.mode(PullUp);
joankangro 0:e679a1bb6eca 107 pull29.mode(PullUp);
joankangro 0:e679a1bb6eca 108 pull30.mode(PullUp);
joankangro 0:e679a1bb6eca 109 pull34.mode(PullUp);
joankangro 0:e679a1bb6eca 110 pull35.mode(PullUp);
joankangro 0:e679a1bb6eca 111 pull38.mode(PullUp);
joankangro 0:e679a1bb6eca 112 pull39.mode(PullUp);
joankangro 0:e679a1bb6eca 113 pull47.mode(PullUp);
joankangro 0:e679a1bb6eca 114 pull48.mode(PullUp);
joankangro 0:e679a1bb6eca 115 pull49.mode(PullUp);
joankangro 0:e679a1bb6eca 116
joankangro 0:e679a1bb6eca 117 indicator=1;
joankangro 0:e679a1bb6eca 118 wait(0.3);
joankangro 0:e679a1bb6eca 119 indicator=0;
joankangro 0:e679a1bb6eca 120 wait(0.3);
joankangro 0:e679a1bb6eca 121 indicator=1;
joankangro 0:e679a1bb6eca 122 wait(0.3);
joankangro 0:e679a1bb6eca 123 indicator=0;
joankangro 0:e679a1bb6eca 124 wait(0.3);
joankangro 0:e679a1bb6eca 125 indicator=1;
joankangro 0:e679a1bb6eca 126
joankangro 0:e679a1bb6eca 127 ENA.period(0.001);
joankangro 0:e679a1bb6eca 128 ENB.period(0.001);
joankangro 0:e679a1bb6eca 129
joankangro 0:e679a1bb6eca 130 IN1=0;
joankangro 0:e679a1bb6eca 131 IN2=1;
joankangro 0:e679a1bb6eca 132 IN3=0;
joankangro 0:e679a1bb6eca 133 IN4=1;
joankangro 0:e679a1bb6eca 134 //set inital pwm values for motor driver outputs
joankangro 0:e679a1bb6eca 135 ENA=0;
joankangro 0:e679a1bb6eca 136 ENB=0;
joankangro 0:e679a1bb6eca 137
joankangro 0:e679a1bb6eca 138 while(1) {
joankangro 0:e679a1bb6eca 139
joankangro 0:e679a1bb6eca 140
joankangro 0:e679a1bb6eca 141 //ENA=0.5;
joankangro 0:e679a1bb6eca 142 //ENB=0.5;
joankangro 0:e679a1bb6eca 143
joankangro 0:e679a1bb6eca 144 if(middle>0.45){
joankangro 0:e679a1bb6eca 145 ledmiddle=1;
joankangro 0:e679a1bb6eca 146 }else{
joankangro 0:e679a1bb6eca 147 ledmiddle=0;
joankangro 0:e679a1bb6eca 148 }
joankangro 0:e679a1bb6eca 149
joankangro 0:e679a1bb6eca 150 if(left>0.4){
joankangro 0:e679a1bb6eca 151 ledleft=1;
joankangro 0:e679a1bb6eca 152 }else{
joankangro 0:e679a1bb6eca 153 ledleft=0;
joankangro 0:e679a1bb6eca 154 }
joankangro 0:e679a1bb6eca 155
joankangro 0:e679a1bb6eca 156 if(right>0.4){
joankangro 0:e679a1bb6eca 157 ledright=1;
joankangro 0:e679a1bb6eca 158 }else{
joankangro 0:e679a1bb6eca 159 ledright=0;
joankangro 0:e679a1bb6eca 160 }
joankangro 0:e679a1bb6eca 161
joankangro 0:e679a1bb6eca 162 if(leftmost==1){
joankangro 0:e679a1bb6eca 163 ledleftmost=1;
joankangro 0:e679a1bb6eca 164 }else{
joankangro 0:e679a1bb6eca 165 ledleftmost=0;
joankangro 0:e679a1bb6eca 166 }
joankangro 0:e679a1bb6eca 167
joankangro 0:e679a1bb6eca 168 if(rightmost==1){
joankangro 0:e679a1bb6eca 169 ledrightmost=1;
joankangro 0:e679a1bb6eca 170 }else{
joankangro 0:e679a1bb6eca 171 ledrightmost=0;
joankangro 0:e679a1bb6eca 172 }
joankangro 0:e679a1bb6eca 173
joankangro 0:e679a1bb6eca 174
joankangro 0:e679a1bb6eca 175 }
joankangro 0:e679a1bb6eca 176 }