Diff: main.cpp

Revision:

0:ed7c764766cb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Oct 19 03:00:53 2014 +0000
@@ -0,0 +1,59 @@
+#include "mbed.h"
+#include "motordriver.h"
+ 
+Serial pc(USBTX, USBRX);
+Serial device(p9, p10); //Connect JY-MCU bluetooth module to 9,10
+ 
+Motor  right(p21, p22, p23, 1); // pwm, fwd, rev, has brake feature
+Motor left(p26, p25, p24, 1);
+float speed;
+ 
+int main()
+{
+    unsigned char Instr;//What button was sent? 1 = forward, 2 = backward
+    unsigned char sentSpeed; //What is the slider set to? 
+    device.baud(57600);
+    while(1) {
+ 
+ 
+        if(device.readable()) {
+            Instr = device.getc();
+            pc.printf("Instruction: %i\n\r", Instr);
+            wait(.05);//Wait for the next bluetooth value to be recieved. 
+           if(device.readable()){
+                    sentSpeed = device.getc();
+                    switch (Instr){
+                    case 0://Stop
+                    left.speed(0);
+                    right.speed(0);
+                    break;
+                    case 1://Forward
+                    pc.printf("Speed: %i\n\r", sentSpeed);
+                    speed = float(sentSpeed) / 100;
+                    left.speed(speed);
+                    right.speed(speed);
+                    break;
+                    case 2://Reverse
+                    pc.printf("Reverse speed: %i\n\r", sentSpeed);
+                    speed = -float(sentSpeed) / 100;
+                    left.speed(speed);
+                    right.speed(speed);
+                    break;
+                    case 3://Clockwise Turn
+                    speed = float(sentSpeed) / 100;
+                    left.speed(speed);
+                    right.speed(-speed);
+                    break;
+                    case 4://CCW Turn
+                    speed = float(sentSpeed) / 100;
+                    left.speed(-speed);
+                    right.speed(speed);
+                    break;
+                    }//End Switch
+
+                }//End Speed Read
+            }//End Instruction Read
+        
+        
+    }
+}
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