Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

main.cpp

Committer:
Bobymicjohn
Date:
2017-02-03
Revision:
8:92f6baeea027
Parent:
6:0682e1c90119
Child:
10:fedb5786a109

File content as of revision 8:92f6baeea027:

#include "mbed.h"

#include "Motor.h"

#include "USBHIDServer.h"
 
PwmOut servo(PTE20);

DigitalOut led(LED1, 1);

int main(void) {
    servo.period(0.020);
    
    //Camera cam;
    
    Motor motor;
    motor.setLeftSpeed(0.9f);
    motor.setRightSpeed(0.9f);
    
    wait(2);
    
    motor.setLeftSpeed(-0.9f);
    motor.setRightSpeed(-0.9f);
    
    wait(3);
    
    motor.setLeftSpeed(-0.0f);
    motor.setRightSpeed(-0.0f);
    
    USBHIDServer server;
    
    unsigned int testCount = 0;
    unsigned int testCount2 = 0;
    char buf[5];
        
    while (1) 
    {
        led = 0;
        server.Update(0.0f);
        motor.Update(0.0f);
        testCount++;
        if(testCount >= 10000)
        {
            testCount2++;
            sprintf(buf, "%d", testCount2);
            //server.PushUnreliableMsg('D', "Test Message!");
            server.PushUnreliableMsg('D', buf);
            testCount = 0;
        }
        
        wait(0.01);
    }
}

/*
PwmOut servo(PTE20);
 
int main() {
    servo.period(0.020);          // servo requires a 20ms period
    
    while (1) {
        for(float offset=0.0; offset<0.001; offset+=0.0001) {
            servo.pulsewidth(0.001 + offset); // servo position determined by a pulsewidth between 1-2ms
            wait(0.25);
        }
    }
    
}
*/