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Dependencies:   mbed

main.cpp@8:4a32fc9ee939, 2017-05-17 (annotated)

Committer:
szh66
Date:
Wed May 17 00:07:32 2017 +0000
Revision:
8:4a32fc9ee939
Parent:
7:7215adbae3da
Child:
9:65a9aad9a5b5
add encoder reading in DriveControl

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kolanery 0:cb667de3a336 1 #include "drivecontrol.h"
szh66 6:1bcfda49e146 2 //#include "pin_assignment.h"
kolanery 4:73510c7fa316 3 #include "io_modules.h"
szh66 6:1bcfda49e146 4 #include "mbed.h"
szh66 6:1bcfda49e146 5
szh66 6:1bcfda49e146 6 // Battery Debugger Interface
szh66 6:1bcfda49e146 7 AnalogIn battery(PA_3);
szh66 6:1bcfda49e146 8
szh66 6:1bcfda49e146 9
szh66 6:1bcfda49e146 10 // Led Debugger Interface
szh66 6:1bcfda49e146 11 DigitalOut led_1(PB_12);
szh66 6:1bcfda49e146 12 DigitalOut led_2(PB_13);
szh66 6:1bcfda49e146 13 DigitalOut led_3(PB_14);
szh66 6:1bcfda49e146 14 DigitalOut led_4(PB_15);
szh66 6:1bcfda49e146 15
szh66 6:1bcfda49e146 16 // System io
szh66 6:1bcfda49e146 17 Serial serial (PA_9, PA_10);
kolanery 2:619b02232144 18
kolanery 0:cb667de3a336 19 // Define states for debugging the mouse hardware
kolanery 2:619b02232144 20 // const int DRIVE = 1, TURN = 2, DEBUG = 3, STOP = 4;
kolanery 0:cb667de3a336 21 // Direction of which to turn
kolanery 2:619b02232144 22 // const int LEFT = 0, RIGHT = 1;
kolanery 0:cb667de3a336 23 // Start and End Pos
kolanery 0:cb667de3a336 24 const int START_POS = 0, END_POS = 0;
kolanery 2:619b02232144 25
kolanery 0:cb667de3a336 26 // Terminating condition for the main control loop
kolanery 0:cb667de3a336 27 bool hasFoundCenter = false;
kolanery 0:cb667de3a336 28
kolanery 0:cb667de3a336 29 // Battery Consumption Indicator
kolanery 0:cb667de3a336 30 void setup() {
szh66 6:1bcfda49e146 31 // pc.baud(9600);
kolanery 4:73510c7fa316 32 // using the serial functions will have an impact on timing.
szh66 6:1bcfda49e146 33 // serial.printf("voltage value is: %3.3f%%\r\n", battery.read()*100.0f);
kolanery 4:73510c7fa316 34 // serial.printf("normalized: 0x%04X \r\n", battery.read_u16());
kolanery 2:619b02232144 35 if (battery.read() < 0.67f){
kolanery 0:cb667de3a336 36 // flash led
kolanery 4:73510c7fa316 37 led_1 = 1;
kolanery 4:73510c7fa316 38 led_2 = 1;
kolanery 4:73510c7fa316 39 led_3 = 1;
kolanery 4:73510c7fa316 40 led_4 = 1;
kolanery 0:cb667de3a336 41 }
kolanery 0:cb667de3a336 42 }
kolanery 0:cb667de3a336 43
kolanery 0:cb667de3a336 44 // Performs the basic drive control of the mouse
kolanery 0:cb667de3a336 45 int main() {
kolanery 4:73510c7fa316 46 DriveControl * driver = new DriveControl (START_POS, END_POS);
kolanery 2:619b02232144 47 while(1) {
kolanery 2:619b02232144 48 setup();
kolanery 4:73510c7fa316 49 led_1 = 1;
szh66 8:4a32fc9ee939 50 driver->getEncoder();
szh66 8:4a32fc9ee939 51 wait(1);
kolanery 7:7215adbae3da 52 //if (!driver->has_front_wall()) {
szh66 8:4a32fc9ee939 53 //driver->drive_forward();
kolanery 7:7215adbae3da 54 //}
kolanery 7:7215adbae3da 55 /*
kolanery 7:7215adbae3da 56 else if (!driver->has_right_wall) {
kolanery 7:7215adbae3da 57 // driver->turn_right();
kolanery 7:7215adbae3da 58 // turn_right() in drivecontrol will call pid_controller::turn(RIGHT)
kolanery 7:7215adbae3da 59 }
kolanery 7:7215adbae3da 60 else if (!driver->has_left_wall) {
kolanery 7:7215adbae3da 61 // driver->turn_left()
kolanery 7:7215adbae3da 62 }
kolanery 7:7215adbae3da 63 else { // has all three walls
kolanery 7:7215adbae3da 64 // driver->turn_around();
kolanery 7:7215adbae3da 65 }*/
kolanery 7:7215adbae3da 66
szh66 8:4a32fc9ee939 67 //wait_ms(1);
szh66 6:1bcfda49e146 68 // driver->stop();
kolanery 0:cb667de3a336 69 }
kolanery 2:619b02232144 70 }