Diff: main.cpp

Revision:

0:bd3be923d5fa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Dec 10 15:13:29 2015 +0000
@@ -0,0 +1,135 @@
+#include "mbed.h"
+#include "Servo.h"
+
+I2CSlave slave(p9, p10);  //Configure I2C slave
+PwmOut steering (p21);// Define PWM Output to wheels servo
+Servo motor (p22); // Define PWM Output to the ESC
+DigitalOut forward(LED1);
+DigitalOut back(LED2);
+DigitalOut stop(LED3);
+DigitalOut led1(p13); // Indicator Light for center turn
+DigitalOut led2(p15); //  Indicator Light for left turn
+DigitalOut led3(p17);// Indicator Light for right turn
+char switch_word ;    //word we will send
+char recd_val;        //value received from master
+
+int main() //start of main programme
+{ 
+    slave.address(0x52); // The slave is addressed
+    while(1) 
+    {
+        led1=0;
+        led2=0;
+        led3=0;
+        forward=0;
+        back=0;
+        stop=0;
+        switch_word=0xa0;          //set up a recognisable output pattern
+        slave.write(switch_word); //load up word to send
+        /*test for I2C, and act accordingly*/
+        int i = slave.receive();
+        if (i == 3) //slave is addressed, Master will write
+        {    
+            recd_val= slave.read();
+            recd_val=recd_val&0x0F; // AND out unwatnted LSB bits
+            /*Locomotion and Sterring Control based on received Value*/
+            if (recd_val==1)
+            {
+                led1=1;
+                forward=1;
+                steering.pulsewidth (0.0015); //centre
+                wait(0.2);
+                motor.write(0.3); //full forward
+                wait(1);
+            }
+            /*
+            if (recd_val==2)
+            {
+                led3=1;
+                forward=1;
+                steering.pulsewidth (0.0009);//right
+                wait(0.2);
+                motor.write(0.3); //full forward
+                wait(1);
+            }
+            */
+            if (recd_val==3)
+            {
+                led3=1;
+                forward=1;
+                steering.pulsewidth (0.0009);//right
+                wait(0.2);
+                motor.write(0.3);//forward
+                wait(1);
+            } 
+            /*   
+            if(recd_val==4)
+            {
+                led3=1;
+                back=1;
+                steering.pulsewidth (0.0009);//right
+                wait(0.2);
+                motor.write(0.6); //full backwards
+                wait(1);
+            }*/
+            if (recd_val==5)
+            {
+                led1=1;
+                back=1;
+                steering.pulsewidth (0.0015);//center
+                motor.write(0.6); //full backwards 
+                wait(1);
+            }
+            /*
+            if(recd_val==6)
+            {
+                led2=1;
+                back=1;
+                steering.pulsewidth (0.0021);//LEFT 
+                wait(0.2);   
+                motor.write(0.6); //full backwards 
+                wait(1);
+            }
+            */           
+            if (recd_val==7)
+            {
+                led2=1;
+                forward=1;
+                steering.pulsewidth (0.0021);//LEFT 
+                wait(0.2);
+                motor.write(0.3); //full forward
+                wait(1);
+                led1=0;
+                led2=0;
+                led3=0;
+            }
+            /*
+            if (recd_val==8)
+            {
+                led2=1;
+                forward=1;
+                steering.pulsewidth (0.0021);//LEFT 
+                wait(0.2);
+                motor.write(0.3); //full FORWARD
+                wait(1);
+            }
+            */
+            if (recd_val==9)
+            {
+                 stop=1;
+                 steering.pulsewidth(0.0015);//stop
+                 wait(0.2);
+                 motor.write(0.5);//stop
+                 wait(1);
+            }
+            if (recd_val==0)
+            {
+                 stop=1;
+                 steering.pulsewidth(0.0015);//stop
+                 wait(0.2);
+                 motor.write(0.5);//stop
+                 wait(1);
+            }
+        }  
+    }  
+}