File content as of revision 10:2970279fce70:

#include "mbed.h"

//motor select pins
DigitalOut motor_lf(PTE2);
DigitalOut motor_lb(PTE3);
DigitalOut motor_rf(PTE4);
DigitalOut motor_rb(PTE5);

//Frequency of Pulse Width Modulated signal in Hz
#define PWM_FREQ          1000

//PWM pin (Enable 1 and 2)
PwmOut motor_r (PTC2);
PwmOut motor_l (PTE29);

//LED to test
DigitalOut led(LED_RED);

//Bluetooth Module to debug
Serial blue(PTC4,PTC3);

void set_direction( int direction, float duty_l, float duty_r)
{
    blue.printf("I've been given %i, %f, %f\n", direction, duty_l, duty_r);
    switch( direction ) {
        case 0x11: { //forward
            motor_r.write( duty_r);
            //Look up ternary statements -- {condition ? value_if_true : value_if_false} This makes 0<result<1
            motor_l.write( duty_l);

            motor_rf=1;
            motor_rb=0;
            motor_lf=1;
            motor_lb=0;
            blue.printf("I'm going forwards, r_motor duty is %f ; l_motor duty is %f\n", duty_r, duty_l);
            break;
        }
        case 0x00: { //backward
            motor_r.write( duty_r);
            motor_l.write( duty_l);

            motor_rf=0;
            motor_rb=1;
            motor_lf=0;
            motor_lb=1;
            blue.printf("I'm going backwards, r_motor duty is %f ; l_motor duty is %f\n", duty_r, duty_l);
            break;

        }
        case 0x01: {  //spin left  --     Right forward, left backward
            motor_r.write( duty_r);
            motor_l.write( duty_l);

            motor_rf=1;
            motor_rb=0;
            motor_lf=0;
            motor_lb=1;
            blue.printf("I'm spinning left, r_motor duty is %f ; l_motor duty is %f\n", duty_r, duty_l);
            break;

        }
        case 0x10: {    //spin right
            motor_r.write( duty_r);
            motor_l.write( duty_l);

            motor_rf=0;
            motor_rb=1;
            motor_lf=1;
            motor_lb=0;
            blue.printf("I'm spinning right, r_motor duty is %f ; l_motor duty is %f\n", duty_r, duty_l);
            break;

        }
    }
}

void manual_mode(){
    int direction = 0x11;
    unsigned char rem_dir; //remote_direction

    while(1) {


        wait(1);
        blue.printf("Gees a Direction\n f for forward both, b for backward both, r for spin right (clockwise), l for spin left (anti-clockwise) .. etc. \nDON'T PUT IT IN UPPERCASE PLS\n");

        while ( blue.readable()==0 ) {}               // loops until there is an input from the user

        //for(int i=0; i<2; i++) {
        rem_dir = blue.getc();    //Store incoming response into array
        //}

        blue.printf("Thanks, calculating it now, you entered %c\n",rem_dir);
        if(   ( rem_dir == 'f')   ) {
            direction = 0x11;
            blue.printf("You wanted to go straight\n");
        }
        if (   (rem_dir == 'b' )     ) {

            direction = 0x00;
            blue.printf("You wanted to go backwards\n");
        }
        if (   (rem_dir == 'l' )   ) {

            direction = 0x01;
            blue.printf("You wanted to spin anti-clockwise\n");

        }
        if (   (rem_dir == 'r' )   )  {

            direction = 0x10;
            blue.printf("You wanted to spin clockwise\n");
        }
         if (rem_dir =='s') {

            motor_r.write(0);
            motor_l.write(0);
            blue.printf("STAAAAHP\n");
        }else{
            wait(0.1);
        blue.printf("What duty left?\n");
        while ( blue.readable()==0 ) {}               // loops until there is an input from the user
        char l_speed = blue.getc();
        wait(0.1);
        blue.printf("What duty right?\n");
        while ( blue.readable()==0 ) {}               // loops until there is an input from the user
        char r_speed = blue.getc();
        wait(0.1);
        int l_result = l_speed - '0';
        int r_result = r_speed - '0';
        set_direction(direction, (float)l_result/10, (float)r_result/10);
       }
        

    }
    
    }
int main()
{
//Set PWM frequency to 1000Hz
    motor_l.period( 1.0f / (float) PWM_FREQ);
    motor_r.period( 1.0f / (float) PWM_FREQ);
//Initialise direction to nothing.
    motor_rf=0;
    motor_rb=0;
    motor_lf=0;
    motor_lb=0;
    while(1){
        manual_mode();
        }

    /* //Also Working Demo
    wait(2);
    led = !led;
    set_direction(0x11, 0.5, 0);  //This would set the robot to go forward, at half speed, straight

    wait(2);
    led = !led;
    set_direction(0x11, 0.8, 0.2); //this would set robot to go forward, at 100% to the right and 60% to the left (turn right)

    wait(2);
    led = !led;
    set_direction(0x00, 0.3, 0.7); //robot back, 100% rightmotor; 0%left (technically -40%, but 0% is min)

    wait(2);
    led = !led;
    set_direction(0x11, 0.5, 0.5); // robot pivots forward, to the right, full speed (100% duty right ; 0% duty left)

    wait(2);
    led = !led;
    set_direction(0x11, 0.5, -0.5); //robot pivots forward, to the left,  full speed  (0% duty right ; 100% duty left)

    wait(2);
    led = !led;
    set_direction(0x11, 0.3, 0.5); //robot pivots forard, to the right , at 80% speed (80% right; 0% left)

    wait(2);
    led = !led;
    set_direction(0x11, -0.3, 0.5); //robot pivotrs foward, to the right, AT 20% SPEED (20%, 0%)

    wait(2);
    led = !led;
    set_direction(0x10, 0.5, 0);   //robot spins to teh right, at half speed. Left forward 50% ; Right forward 50%

    wait(2);
    led = !led;
    set_direction(0x10, 0.5, 0.3); //robot spins to the right, 80% right forward ; 20% left backward

    }*/


    /*  // working demo

      while(1) { //infinite loop
          //***********************************************
          myled = !myled;

          //Set duty cycle at 100% AKA Full Speed
          motor_r.write(1.0);
          motor_l.write(1.0);

          motor_rf=1;
          motor_rb=0;
          motor_lf=1;
          motor_lb=0; //go forwards
          wait(2);
          //**************************************
          myled = !myled;

          motor_r.write(0.75);
          motor_l.write(0.75);

          motor_rf=1;
          motor_rb=0;
          motor_lf=1;
          motor_lb=0; //go forwards
          //
          wait(2);

          myled = !myled;

          motor_r.write(0.5);
          motor_l.write(0.5);

          motor_rf=1;
          motor_rb=0;
          motor_lf=1;
          motor_lb=0;


          wait(2);
          myled = !myled;

          motor_r.write(0.30);
          motor_l.write(0.30);

          motor_rf=1;
          motor_rb=0;
          motor_lf=1;
          motor_lb=0;

          wait(2);

          myled = !myled;
          motor_r.write(1.0);
          motor_l.write(1.0);

          motor_rf=0;
          motor_rb=1;
          motor_lf=0;
          motor_lb=1; //go backwards
          //
          wait(2);



          myled = !myled;
          motor_r.write(0.5);
          motor_l.write(0.5);

          motor_rf=0;
          motor_rb=0;
          motor_lf=0;
          motor_lb=1; //

          wait(2);
          myled = !myled;

          motor_rf=0;
          motor_rb=1;
          motor_lf=0;
          motor_lb=0; //reverse turn

          wait(2);

          myled = !myled;
          motor_r.write(0.5);
          motor_l.write(1.0);

          motor_rf=1;
          motor_rb=0;
          motor_lf=1;
          motor_lb=0; //go forwards
          //
          wait(4);
      }*/



}