Diff: main.cpp

Revision:

1:351a8a56113a

Parent:

0:1a51b2e26388

Child:

2:1b827a164a4c

--- a/main.cpp	Thu Jun 01 00:00:37 2017 +0000
+++ b/main.cpp	Fri Jun 02 16:04:23 2017 +0000
@@ -5,24 +5,101 @@
 // 9600 bauds, 8-bit data, no parity
 //------------------------------------
 
-Serial bt(D1, D0);
+Serial bt(USBTX, USBRX);
 
 
-DigitalOut myled(LED1);
+AnalogIn linksvoor(A0);
+AnalogIn rechtsvoor(A1);
+AnalogIn linksachter(A2);
+AnalogIn rechtsachter(A3);
+AnalogIn afstand(A4);
+
+Ticker stepperspeed;
+
+DigitalOut steppulse(D9);
+
+DigitalOut enable(D10);
+
+DigitalIn button(D8);
+DigitalOut led(D11);
+
 
+DigitalOut motorlfwd(D2);
+DigitalOut motorlrwd(D3);
+DigitalOut motorrfwd(D6);
+DigitalOut motorrrwd(D7);
+
+float a;
+float b;
+float c;
+float d;
+float e;
+float f;
+float g;
+
+void setstep()
+{
+    steppulse = !steppulse;
+}
 
 int main()
 {
-    int i = 1;
+button.mode(PullUp);
+    // Init the ticker with the address of the function (toggle_led) to be attached and the interval (100 ms)
+    stepperspeed.attach(&setstep, 0.0008);
+    
+led = 1;
     bt.printf("lekker draadloos pik !\n");
     while(1) {
-        wait(1);
-        bt.printf("This program runs since %d seconds.\n", i++);
-        myled = !myled;
+        wait(0.05);
+        a = afstand;
+        b = linksvoor;
+        c = rechtsvoor;
+        d = linksachter;
+        e = rechtsachter;
+
+        bt.printf("dis =  %f, FL =  %f, FR =  %f, RL =  %f, RR =  %f.\n", a, b, c, d, e);
+       
         if (bt.readable() > 0) {
-char c = bt.getc();
-            bt.printf("stopped\n");
-
+            char c = bt.getc();
+            switch(c){
+                case 's':
+                bt.printf("stopped\n");
+                
+                motorlfwd = 0;
+                motorrfwd = 0;
+                motorlrwd = 0;
+                motorrrwd = 0;
+                enable = 1;
+                led = 0;
+                break;
+                case 'q':
+                bt.printf("LFWD\n");
+                motorlfwd = 1;
+                break;
+                case 'w':
+                bt.printf("RFWD\n");
+                motorrfwd = 1;
+                break;
+                case 'e':
+                bt.printf("LRWD\n");
+                motorlrwd = 1;
+                break;
+                case 'r':
+                bt.printf("RRWD\n");
+                motorrrwd = 1;
+                break;
+                case 'a':
+                bt.printf("Stepper\n");
+                enable = 0;
+                break;
+                case 'd':
+                bt.printf("led\n");
+                led = 1;
+                break;
+                }
+            
+            
 
         }
     }