The Dream Team
/
first_test
Pop lock n drop it
Diff: main.cpp
- Revision:
- 5:f3805a1f9047
- Parent:
- 4:14b00a82d206
- Child:
- 6:36c597e4d07a
--- a/main.cpp Wed May 21 15:09:12 2014 +0000 +++ b/main.cpp Thu May 22 11:54:41 2014 +0000 @@ -1,10 +1,16 @@ #include "mbed.h" #include "m3pi_ng.h" #include "DigitalIn.h" +#include "btbee.h" DigitalOut myled(LED1); m3pi huey; +btbee btbee; + DigitalIn m3pi_IN[]={(p12),(p21)}; // IR-Sensor +DigitalOut mbed_led[] = {(LED1), (LED2),(LED3), (LED4)}; +DigitalOut m3pi_led[] = {(p13), (p14), (p15), (p16), (p17), (p18), (p19), (p20)}; +DigitalIn m3pi_pb(p21); void printBattery() @@ -66,6 +72,7 @@ ///////////////////////////////////////////////////////////////// int main() { + m3pi_IN[0].mode(PullUp); m3pi_IN[1].mode(PullUp); @@ -82,7 +89,6 @@ printBattery(); - float speed = 0.25; float pos; int z=1; @@ -115,5 +121,70 @@ myled = 0; wait(0.2); } -} + //btbee trial + // initialization stuff //////////////////////////////////////////////////////////////////////////////////////////////////// + huey.locate(0,1); + btbee.reset(); + for (int i = 0; i <4; i++) { + mbed_led[i] = 0; + } + for (int i = 0; i <8; i++) { + m3pi_led[i]=0; + } + m3pi_pb.mode(PullUp); // expected would be 1 when pb is pressed, 0 when not, opposite is the case + + // end initialization stuff //////////////////////////////////////////////////////////////////////////////////////////////// + + huey.locate(0,0); + huey.printf("B:%0.3f%V",huey.battery()); + wait(0.3); + + huey.locate(0,0); + huey.printf("%s","btTest"); + huey.locate(0,1); + huey.printf("%s","PBonLNK"); + + // wait for the user to push P21, should be pressed when the bt link is established (green led "link") + while(m3pi_pb) { + m3pi_led[0]=!m3pi_led[0]; + wait(0.1); + } + int iline=1; + char arr_read[30]; // this should be long enough to store any reply coming in over bt. + int chars_read; // number of chars read in a bt reply + + while (true) { + // this writes "Line 001\n" to "Line 005\n" and then "end\n" to the btbee + if ( btbee.writeable() ) { + if (iline==6) { + btbee.printf("end\n"); + iline++; + }//if + else { + if (iline <6){ + btbee.printf("Line %0.3d \n",iline); + m3pi_led[0]=0; + huey.locate(0,0); + huey.printf("Sent %0.3d",iline); + iline++; + } + }//else + }//if_write + + // check for answers after each write /not write + while ( btbee.readable() ) { + m3pi_led[7]=1; + btbee.read_all(arr_read, 30, &chars_read ); + m3pi_led[6]=1; + huey.locate(0,1); + huey.print(arr_read,chars_read); + m3pi_led[5]=1; + }//while_readable + wait(0.1); + }//while_true + +}//main +//end of btbee trial + +