Diff: main.cpp

Revision:

10:cf77da9be0b8

Parent:

5:dc4cf6cc24b3

Child:

11:87f30625b213

--- a/main.cpp	Tue Feb 14 14:46:37 2017 -0500
+++ b/main.cpp	Tue Feb 28 21:11:48 2017 +0000
@@ -1,71 +1,18 @@
-#include "mbed.h"
-
-// 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() {
+#include "DumpTruck.h"
+DumpTruck dump(1);
 
-    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;
+/*
+test code for driving and stopping when an object gets too close
+to the dump truck.
+*/
 
-    // 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;
+int main() {
+    while(1) {
+        if(dump.detect()) {
+            dump.stop();
+        } else {
+            dump.drive(0.5f);
+        }
     }
-    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) {
-    }
-}