Terrabots
/
DUMP_TRUCK_TEST_V1
Motor is being implemented in this version. Trying to implement catching errors
Revision 5:dc4cf6cc24b3, committed 2017-02-07
- Comitter:
- simplyellow
- Date:
- Tue Feb 07 21:01:20 2017 +0000
- Parent:
- 4:2f1a0f628875
- Commit message:
- Dump Truck
Changed in this revision
--- a/DumpTruck.cpp Tue Nov 29 20:04:34 2016 +0000 +++ b/DumpTruck.cpp Tue Feb 07 21:01:20 2017 +0000 @@ -1,21 +1,14 @@ #include "DumpTruck.h" -#include "stdlib.h" -#include "QEI.h" +/*#include "stdlib.h" #include "stdio.h" -#include "string.h" +#include "string.h"*/ - -Serial pc(USBTX, USBRX); +//Serial pc(USBTX, USBRX); DumpTruck::DumpTruck(int truckId) : truckNumber(truckId) { truckNumber = truckId; } -QEI wheel (p15, p16, NC, 128, QEI::X4_ENCODING); //orange, yellow -float pulseCount; //number of pulses detected by encoder -float encoding = 2; //X2 -float d = 13.25; //inches of circumference -float distance; PwmOut DrivePin(p24); DigitalOut DirPin(p30); float travelled; @@ -250,5 +243,7 @@ // float input = AnalogIn(x); // data from potentiometer // return input; // } -// +// +*/ +
--- a/DumpTruck.h Tue Nov 29 20:04:34 2016 +0000 +++ b/DumpTruck.h Tue Feb 07 21:01:20 2017 +0000 @@ -37,5 +37,4 @@ //bool isCalibrated;// returns 0 and 1 to check if the robot has been calibrated }; - -#endif \ No newline at end of file +#endif
--- a/QEI.lib Tue Nov 29 20:04:34 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Tracker.lib Tue Feb 07 21:01:20 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/Terrabots/code/Tracker/#eb8680da1721
--- a/main.cpp Tue Nov 29 20:04:34 2016 +0000 +++ b/main.cpp Tue Feb 07 21:01:20 2017 +0000 @@ -1,11 +1,71 @@ #include "mbed.h" -#include "DumpTruck.h" -DigitalOut myled(LED1); +// Define buttons +InterruptIn button_red(p5); +InterruptIn button_green(p6); +InterruptIn button_blue(p7); + +// Define LED colors +PwmOut led_red(p21); +PwmOut led_green(p22); +PwmOut led_blue(p23); +// Interrupt Service Routine to increment the red color +void inc_red() { -int main() { - DumpTruck foo(1); - foo.drive(); + float pwm; + + // Read in current PWM value and increment it + pwm = led_red.read(); + pwm += 0.1f; + if (pwm > 1.0f) { + pwm = 0.0f; + } + led_red.write(pwm); } +// Interrupt Service Routine to increment the green color +void inc_green() { + + float pwm; + + // Read in current PWM value and increment it + pwm = led_green.read(); + pwm += 0.1f; + if (pwm > 1.0f) { + pwm = 0.0f; + } + led_green.write(pwm); +} + +// Interrupt Service Routine to increment the blue color +void inc_blue() { + + float pwm; + + // Read in current PWM value and increment it + pwm = led_blue.read(); + pwm += 0.1f; + if (pwm > 1.0f) { + pwm = 0.0f; + } + led_blue.write(pwm); +} + +// Main loop +int main() { + + // Initialize all LED colors as off + led_red.write(0.0f); + led_green.write(0.0f); + led_blue.write(0.0f); + + // Define three interrupts - one for each color + button_red.fall(&inc_red); + button_green.fall(&inc_green); + button_blue.fall(&inc_blue); + + // Do nothing! We wait for an interrupt to happen + while(1) { + } +}