main.cpp

00001 #include "mbed.h"
00002 #include "SDFileSystem.h"
00003 #include "wave_player.h"
00004 SDFileSystem sd(p5, p6, p7, p8, "sd"); //SD card                 
00005 //Serial pc(p13,p14); ipod
00006 Serial pc(USBTX, USBRX); //pc
00007 PwmOut a (LED4);
00008 PwmOut b(LED3);
00009 PwmOut c (LED2);
00010 PwmOut d(LED1);
00011 
00012 
00013 PwmOut PWMD(p21);
00014 DigitalOut D2(p20);
00015 DigitalOut D1(p19);
00016 
00017 PwmOut PWMI(p22);
00018 DigitalOut I2(p17);
00019 DigitalOut I1(p16);
00020 
00021 AnalogOut DACout(p18);
00022 wave_player waver(&DACout);
00023 
00024 char K;
00025 float lag=0.1,PwmI=1,PwmD=1;
00026 
00027 int main()
00028 {
00029 
00030 wait(1);
00031 //pc.baud(19200);  ipod
00032 pc.printf("Press arrows to move");
00033 
00034  while(1) 
00035     { 
00036     I1=0; I2=0;  PwmI=0;    D1=0; D2=0; PwmD=0; a=0;b=0;c=0;d=0;
00037     K=pc.getc();
00038     if (K==0x41){I1=1; I2=0;  PWMI=.8;    D1=1; D2=0; PWMD=1;a=0;b=1;c=1;d=0;wait(lag);} //forward
00039     if (K==0x42){I1=0; I2=1;  PWMI=1;    D1=0; D2=1; PWMD=1;a=1;b=0;c=0;d=1;wait(lag);} //backward
00040     if (K==0x43){I1=1; I2=0;  PWMI=1;    D1=0; D2=1; PWMD=1;a=1;b=0;c=0;d=0;wait(lag);} //right
00041     if (K==0x44){ I1=0; I2=1;  PWMI=1;   D1=1; D2=0; PWMD=1;a=0;b=0;c=0;d=1;wait(lag);} //lrft
00042     if (K=='h'){ FILE *wave_file; wave_file=fopen("/sd/claxon.wav", "r"); waver.play(wave_file);fclose(wave_file);}
00043     
00044    }
00045    }