Diff: main.cpp

Revision:

0:cb667de3a336

Child:

2:619b02232144

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat May 06 19:34:26 2017 +0000
@@ -0,0 +1,50 @@
+#include "mbed.h"
+#include "drivecontrol.h"
+#include "pin_assignment.h"
+
+AnalogIn battery(PA_3);
+Serial pc(PA_9, PA_10);
+
+// Define states for debugging the mouse hardware
+const int DRIVE = 1, TURN = 2, DEBUG = 3, STOP = 4;
+// Direction of which to turn
+const int LEFT = 0, RIGHT = 1;
+// Start and End Pos
+const int START_POS = 0, END_POS = 0;
+// Terminating condition for the main control loop
+bool hasFoundCenter = false;
+
+// Battery Consumption Indicator
+void setup() {
+    pc.baud(9600);
+    if (battery.read() < 0.73f){
+        // flash led
+    }  
+}
+
+// Performs the basic drive control of the mouse
+int main() {
+    DriveControl * driver = new DriveControl(START_POS, END_POS);
+    int state = DRIVE;
+    while(!hasFoundCenter) {
+        state = driver->get_next_state(state);
+        switch (state) {
+            case DRIVE:
+                driver->drive_one_forward();
+            case TURN:
+                if (driver->get_next_direction() == LEFT) {
+                    driver->turn_left();
+                }
+                else if (driver->get_next_direction() == RIGHT) {
+                    driver->turn_right();    
+                }
+            case STOP:
+                driver->stop();
+            case DEBUG:
+                // TODO
+            default:
+                // Error Condition. Flash all lights.
+                break;  
+        }
+    }
+}