Diff: main.cpp

Revision:

2:7ca8b2154664

Parent:

1:fad61b6e660b

Child:

3:ce51f3857195

--- a/main.cpp	Tue Aug 04 21:22:56 2015 +0000
+++ b/main.cpp	Sun Aug 09 17:28:16 2015 +0000
@@ -10,6 +10,8 @@
 IN4 - p25   --> OUT4 - MOTORB-
 */
 
+Timeout systicker;
+
 PwmOut in1(p5);
 PwmOut in2(p6);
 
@@ -22,8 +24,16 @@
 DigitalOut LED(LED1);
 
 Serial bluetooth(p9, p10);
-//Serial pc(USBTX, USBRX);
+Serial pc(USBTX, USBRX);
+
 
+void SysTick_handler()
+{
+    in1.write(0.5);
+    in2.write(0.5);
+    in3.write(0.5);
+    in4.write(0.5);
+}
 
 /* Initialize timers for the H-bridge*/
 int init_drive()
@@ -52,6 +62,50 @@
     }
 }
 
+void rxPCCallback()
+{
+    int i;
+    char c;
+    c = pc.getc();
+    switch (c) {
+            // Forward direction
+        case 'w':
+            in1.write(1.0);
+            in2.write(0.0);
+            in3.write(1.0);
+            in4.write(0.0);
+            systicker.attach(&SysTick_handler, 0.6);
+            break;
+            // Backward direction
+        case 's':
+            in1.write(0.0);
+            in2.write(1.0);
+            in3.write(0.0);
+            in4.write(1.0);
+            break;
+            // Left direction
+        case 'a':
+            in1.write(1.0);
+            in2.write(0.0);
+            in3.write(0.0);
+            in4.write(0.0);
+            break;
+        case 'd':
+            in1.write(0.0);
+            in2.write(1.0);
+            in3.write(0.0);
+            in4.write(0.0);
+            break;
+        default:
+            in1.write(0.5);
+            in2.write(0.5);
+            in3.write(0.5);
+            in4.write(0.5);
+    }
+
+
+}
+
 /* Initialize the bluetooth module*/
 int init_bluetooth()
 {
@@ -59,7 +113,7 @@
     //wait(0.2);
     //bluetooth.printf("AT+NAMETHOR1\r\n");
     bluetooth.attach(&rxCallback, Serial::RxIrq);
-    
+
     return 1;
 }
 
@@ -78,17 +132,24 @@
 
 int main()
 {
+    pc.baud(9600);
+    //wait(0.2);
+    //bluetooth.printf("AT+NAMETHOR1\r\n");
+    pc.attach(&rxPCCallback, Serial::RxIrq);
 
     init_drive();
-    init_bluetooth();
+//    init_bluetooth();
+
     
+
     while(1) {
-/*        if(pc.readable()) {
-            bluetooth.putc(pc.getc());
-        }
-        if(bluetooth.readable()) {
-            pc.putc(bluetooth.getc());
-        }*/
-    }
+
+    /*        if(pc.readable()) {
+                bluetooth.putc(pc.getc());
+            }
+            if(bluetooth.readable()) {
+                pc.putc(bluetooth.getc());
+            }*/
+}
 
 }
\ No newline at end of file