Diff: main.cpp

Revision:

4:ca2ee032bc5a

Parent:

2:dd85fdc18224

Child:

5:88d466dea486

--- a/main.cpp	Wed Aug 20 13:37:04 2014 +0000
+++ b/main.cpp	Fri Aug 29 04:40:46 2014 +0000
@@ -1,15 +1,19 @@
 #include "mbed.h"
 #include "BLEDevice.h"
 #include "RCBController.h"
+#include "TB6612.h"
 
 #define DBG 1
 
 BLEDevice  ble;
 Serial  pc(USBTX, USBRX);
 /* LEDs for indication: */
-DigitalOut  ConnectStateLed(LED1);
-PwmOut  ControllerStateLed(LED2);
+DigitalOut  ConnectStateLed(P0_18);
+DigitalOut  outlow(P0_20);
+//PwmOut  ControllerStateLed(LED2);
 
+TB6612 left(P0_29,P0_24,P0_23);
+TB6612 right(P0_28,P0_30,P0_0);
 
 /* RCBController Service */
 static const uint16_t RCBController_service_uuid = 0xFFF0;
@@ -54,7 +58,9 @@
 		pc.printf("DATA:%02X %02X %d %d %d %d %d %d %d %02X\n\r",controller.data[0],controller.data[1],controller.data[2],controller.data[3],controller.data[4],
 															   controller.data[5],controller.data[6],controller.data[7],controller.data[8],controller.data[9]);
 #endif
-		ControllerStateLed = (float)controller.status.LeftAnalogLR / 255.0;		
+			left = ((float)((int)controller.status.LeftAnalogUD -128) / 128.0);
+			right = ((float)((int)controller.status.RightAnalogUD -128) / 128.0);
+		//ControllerStateLed = (float)controller.status.LeftAnalogLR / 255.0;		
 	}
 		 
 }
@@ -66,9 +72,14 @@
 /**************************************************************************/
 int main(void)
 {
+	pc.baud(921600);
+	
+	
+	ConnectStateLed = 1;
 #if DBG
 		pc.printf("Start\n\r");
 #endif
+	outlow = 0;
 	
     ble.init(); 
     ble.onConnection(onConnected);
@@ -79,7 +90,7 @@
     ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
     ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
     ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
-                                    (const uint8_t *)"mbed HRM1017", sizeof("mbed HRM1017") - 1);
+                                    (const uint8_t *)"mbed WallbotBLE", sizeof("mbed WallbotBLE") - 1);
     ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_16BIT_SERVICE_IDS,
                                     (const uint8_t *)RCBController_service_uuid, sizeof(RCBController_service_uuid));
 
@@ -87,6 +98,7 @@
     ble.startAdvertising();
 
     ble.addService(RCBControllerService);
+    
 
     while (true) {
         ble.waitForEvent();