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Dependencies:   FRDM-TFC mbed

main.cpp@6:44d1079f076c, 2015-02-18 (annotated)

Committer:
bbbobbbieo
Date:
Wed Feb 18 20:51:28 2015 +0000
Revision:
6:44d1079f076c
Parent:
5:e7e4f1967fb8
Child:
7:455e7dd338ee
servos work with pushbutton; rear motors are dumb;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bbbobbbieo 3:c7caa058fc50 1 //#include "mbed.h"
bbbobbbieo 1:21d40d90b2f0 2 #include "TFC.h"
bbbobbbieo 0:d57117b2188d 3
bbbobbbieo 0:d57117b2188d 4 DigitalOut myled(LED1);
bbbobbbieo 0:d57117b2188d 5
bbbobbbieo 1:21d40d90b2f0 6 int main()
bbbobbbieo 1:21d40d90b2f0 7 {
bbbobbbieo 2:d8a51492b646 8 TFC_Init();
bbbobbbieo 2:d8a51492b646 9
bbbobbbieo 4:7584ff0426f1 10 float current_servo_position = 0;
bbbobbbieo 6:44d1079f076c 11 float current_left_motor_speed = 0;
bbbobbbieo 6:44d1079f076c 12 float current_right_motor_speed = 0;
bbbobbbieo 6:44d1079f076c 13 bool rear_motor_enable_flag = true;
bbbobbbieo 4:7584ff0426f1 14
bbbobbbieo 1:21d40d90b2f0 15 while(1)
bbbobbbieo 1:21d40d90b2f0 16 {
bbbobbbieo 2:d8a51492b646 17
bbbobbbieo 3:c7caa058fc50 18 if (TFC_ReadPushButton(0) != 0 )
bbbobbbieo 3:c7caa058fc50 19 {
bbbobbbieo 3:c7caa058fc50 20 TFC_BAT_LED0_ON;
bbbobbbieo 6:44d1079f076c 21 wait(0.004);
bbbobbbieo 3:c7caa058fc50 22 TFC_BAT_LED0_OFF;
bbbobbbieo 6:44d1079f076c 23 wait(0.004);
bbbobbbieo 4:7584ff0426f1 24
bbbobbbieo 6:44d1079f076c 25 current_servo_position = current_servo_position-.005;
bbbobbbieo 6:44d1079f076c 26 if(current_servo_position <= -0.4)
bbbobbbieo 6:44d1079f076c 27 current_servo_position = -0.4;
bbbobbbieo 5:e7e4f1967fb8 28 TFC_SetServo(0, current_servo_position);
bbbobbbieo 3:c7caa058fc50 29 }
bbbobbbieo 4:7584ff0426f1 30
bbbobbbieo 3:c7caa058fc50 31 else
bbbobbbieo 3:c7caa058fc50 32 {
bbbobbbieo 3:c7caa058fc50 33 TFC_BAT_LED0_ON;
bbbobbbieo 3:c7caa058fc50 34 }
bbbobbbieo 4:7584ff0426f1 35
bbbobbbieo 4:7584ff0426f1 36 if (TFC_ReadPushButton(1) != 0 )
bbbobbbieo 4:7584ff0426f1 37 {
bbbobbbieo 4:7584ff0426f1 38 TFC_BAT_LED1_ON;
bbbobbbieo 6:44d1079f076c 39 wait(0.004);
bbbobbbieo 4:7584ff0426f1 40 TFC_BAT_LED1_OFF;
bbbobbbieo 6:44d1079f076c 41 wait(0.004);
bbbobbbieo 4:7584ff0426f1 42
bbbobbbieo 6:44d1079f076c 43 current_servo_position = current_servo_position+.005;
bbbobbbieo 6:44d1079f076c 44 if(current_servo_position >= 0.4)
bbbobbbieo 6:44d1079f076c 45 current_servo_position = 0.4;
bbbobbbieo 5:e7e4f1967fb8 46 TFC_SetServo(0, current_servo_position);
bbbobbbieo 4:7584ff0426f1 47 }
bbbobbbieo 4:7584ff0426f1 48
bbbobbbieo 4:7584ff0426f1 49 else
bbbobbbieo 4:7584ff0426f1 50 {
bbbobbbieo 4:7584ff0426f1 51 TFC_BAT_LED1_ON;
bbbobbbieo 4:7584ff0426f1 52 }
bbbobbbieo 4:7584ff0426f1 53
bbbobbbieo 6:44d1079f076c 54 if(rear_motor_enable_flag)
bbbobbbieo 6:44d1079f076c 55 {
bbbobbbieo 6:44d1079f076c 56 //
bbbobbbieo 6:44d1079f076c 57 //current_left_motor_speed = current_left_motor_speed + .3*(TFC_ReadPot(0));
bbbobbbieo 6:44d1079f076c 58 //current_right_motor_speed = current_right_motor_speed + .3*(TFC_ReadPot(1));
bbbobbbieo 6:44d1079f076c 59
bbbobbbieo 6:44d1079f076c 60 current_left_motor_speed = .3*(TFC_ReadPot(0));
bbbobbbieo 6:44d1079f076c 61 current_right_motor_speed = .3*(TFC_ReadPot(1));
bbbobbbieo 6:44d1079f076c 62
bbbobbbieo 6:44d1079f076c 63 if(current_left_motor_speed >= 0.4)
bbbobbbieo 6:44d1079f076c 64 current_left_motor_speed= 0.4;
bbbobbbieo 6:44d1079f076c 65 if(current_right_motor_speed >= 0.4)
bbbobbbieo 6:44d1079f076c 66 current_right_motor_speed= 0.4;
bbbobbbieo 6:44d1079f076c 67 if(current_left_motor_speed <= -0.4)
bbbobbbieo 6:44d1079f076c 68 current_left_motor_speed= -0.4;
bbbobbbieo 6:44d1079f076c 69 if(current_right_motor_speed <= -0.4)
bbbobbbieo 6:44d1079f076c 70 current_right_motor_speed= -0.4;
bbbobbbieo 6:44d1079f076c 71
bbbobbbieo 6:44d1079f076c 72 TFC_SetMotorPWM(current_left_motor_speed, current_right_motor_speed);
bbbobbbieo 6:44d1079f076c 73 }
bbbobbbieo 0:d57117b2188d 74 }
bbbobbbieo 0:d57117b2188d 75 }
bbbobbbieo 0:d57117b2188d 76 //hi guys