Route Fix
Dependencies: mbed Motor LSM9DS1_Library_cal PinDetect HC_SR04_Ultrasonic_Library
Diff: main.cpp
- Revision:
- 6:d25157f50f14
- Parent:
- 5:85951362fd6d
- Child:
- 7:5667ce16d526
--- a/main.cpp Wed Nov 21 19:43:30 2018 +0000 +++ b/main.cpp Wed Nov 21 20:32:01 2018 +0000 @@ -14,14 +14,8 @@ //---------------------| // Debug LED pin: //DigitalOut led(p25); - -// Motor Power Control pins: -/* -DigitalOut Ctrl1(p29); -DigitalOut Ctrl2(p30); -PinDetect sw(p20); -*/ - +DigitalIn sw(p20); +Serial pc(USBTX,USBRX); // Setup Motor Driver pins: Motor Lfront(p21, p6, p5); // PWM to p21, forward to p6, reverse to p5... Motor Rfront(p22, p8, p7); // PWM to p22, forward to p8, reverse to p7... @@ -133,54 +127,15 @@ //---------------| int main() { // Use internal pullup for the switch: - //sw.mode(PullUp); - - // Delay for initial pullups to take effect: - //wait(0.01); - - // Initialize and calibrate the IMU: - /* - LSM9DS1 imu(p28, p27, 0xD6, 0x3C); // SDA to p28, SCL to p27... - imu.begin(); - imu.calibrate(1); - imu.calibrateMag(0); - - imu.readGyro(); - start = imu.gz; - */ - + sw.mode(PullUp); // Initialize the Ultrasonic Sensor: usensor.startUpdates(); // Initialize the Timer: t.start(); + pc.printf("sw is : %d", sw); + while(!sw) { - while(1) { - // Toggle motor battery banks: - /* - if (!sw == 1) { - Ctrl1 = 1; - Ctrl2 = 1; - wait(0.2); - } - else { - Ctrl1 = 0; - Ctrl2 = 0; - wait(0.2); - } - */ - - // Read IMU gyro: - //while(!imu.gyroAvailable()); - //imu.readGyro(); - //heading = imu.calcGyro(imu.gz); - // X - imu.calcGyro(imu.gx) - // Y - imu.calcGyro(imu.gy) - // Z - imu.calcGyro(imu.gz) - - //if (heading > 90) {led=1;} else {led=0;} - - // Read Ultrasonic Sensor: usensor.checkDistance(); wait(0.1);