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Dependencies:   mbed

main.cpp@2:619b02232144, 2017-05-13 (annotated)

Committer:
kolanery
Date:
Sat May 13 06:13:23 2017 +0000
Revision:
2:619b02232144
Parent:
0:cb667de3a336
Child:
3:4230b82fde43
update controller code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kolanery 0:cb667de3a336 1 #include "mbed.h"
kolanery 0:cb667de3a336 2 #include "drivecontrol.h"
kolanery 0:cb667de3a336 3 #include "pin_assignment.h"
kolanery 0:cb667de3a336 4 AnalogIn battery(PA_3);
kolanery 0:cb667de3a336 5 Serial pc(PA_9, PA_10);
kolanery 0:cb667de3a336 6
kolanery 2:619b02232144 7 DigitalOut testLed(PB_12);
kolanery 2:619b02232144 8 DigitalOut testLed2(PB_13);
kolanery 2:619b02232144 9 DigitalOut testLed3(PB_14);
kolanery 2:619b02232144 10 DigitalOut testLed4(PB_15);
kolanery 2:619b02232144 11
kolanery 2:619b02232144 12 Serial serial (PA_9, PA_10);
kolanery 2:619b02232144 13
kolanery 0:cb667de3a336 14 // Define states for debugging the mouse hardware
kolanery 2:619b02232144 15 // const int DRIVE = 1, TURN = 2, DEBUG = 3, STOP = 4;
kolanery 0:cb667de3a336 16 // Direction of which to turn
kolanery 2:619b02232144 17 // const int LEFT = 0, RIGHT = 1;
kolanery 0:cb667de3a336 18 // Start and End Pos
kolanery 0:cb667de3a336 19 const int START_POS = 0, END_POS = 0;
kolanery 2:619b02232144 20
kolanery 0:cb667de3a336 21 // Terminating condition for the main control loop
kolanery 0:cb667de3a336 22 bool hasFoundCenter = false;
kolanery 0:cb667de3a336 23
kolanery 0:cb667de3a336 24 // Battery Consumption Indicator
kolanery 0:cb667de3a336 25 void setup() {
kolanery 0:cb667de3a336 26 pc.baud(9600);
kolanery 2:619b02232144 27 if (battery.read() < 0.67f){
kolanery 0:cb667de3a336 28 // flash led
kolanery 2:619b02232144 29 testLed = 1;
kolanery 2:619b02232144 30 testLed2 = 1;
kolanery 2:619b02232144 31 testLed3 = 1;
kolanery 2:619b02232144 32 testLed4 = 1;
kolanery 0:cb667de3a336 33 }
kolanery 0:cb667de3a336 34 }
kolanery 0:cb667de3a336 35
kolanery 0:cb667de3a336 36 // Performs the basic drive control of the mouse
kolanery 0:cb667de3a336 37 int main() {
kolanery 0:cb667de3a336 38 DriveControl * driver = new DriveControl(START_POS, END_POS);
kolanery 2:619b02232144 39 while(1) {
kolanery 2:619b02232144 40 setup();
kolanery 2:619b02232144 41
kolanery 2:619b02232144 42 serial.printf("voltage value is: %3.3f%%\r\n", battery.read()*100.0f);
kolanery 2:619b02232144 43 serial.printf("normalized: 0x%04X \r\n", battery.read_u16());
kolanery 2:619b02232144 44
kolanery 2:619b02232144 45 testLed2 = 1;
kolanery 2:619b02232144 46 testLed4 = 1;
kolanery 2:619b02232144 47
kolanery 2:619b02232144 48 driver->drive_one_forward();
kolanery 2:619b02232144 49 wait(0.7);
kolanery 2:619b02232144 50 driver->stop();
kolanery 2:619b02232144 51 wait(3);
kolanery 0:cb667de3a336 52 }
kolanery 2:619b02232144 53 }