main.cpp

00001 #include "mbed.h"
00002 #include "Servo.h"
00003 
00004 I2CSlave slave(p9, p10);  //Configure I2C slave
00005 PwmOut steering (p21);// Define PWM Output to wheels servo
00006 Servo motor (p22); // Define PWM Output to the ESC
00007 DigitalOut forward(LED1);
00008 DigitalOut back(LED2);
00009 DigitalOut stop(LED3);
00010 DigitalOut led1(p13); // Indicator Light for center turn
00011 DigitalOut led2(p15); //  Indicator Light for left turn
00012 DigitalOut led3(p17);// Indicator Light for right turn
00013 char switch_word ;    //word we will send
00014 char recd_val;        //value received from master
00015 
00016 int main() //start of main programme
00017 { 
00018     slave.address(0x52); // The slave is addressed
00019     while(1) 
00020     {
00021         led1=0;
00022         led2=0;
00023         led3=0;
00024         forward=0;
00025         back=0;
00026         stop=0;
00027         switch_word=0xa0;          //set up a recognisable output pattern
00028         slave.write(switch_word); //load up word to send
00029         /*test for I2C, and act accordingly*/
00030         int i = slave.receive();
00031         if (i == 3) //slave is addressed, Master will write
00032         {    
00033             recd_val= slave.read();
00034             recd_val=recd_val&0x0F; // AND out unwatnted LSB bits
00035             /*Locomotion and Sterring Control based on received Value*/
00036             if (recd_val==1)
00037             {
00038                 led1=1;
00039                 forward=1;
00040                 steering.pulsewidth (0.0015); //centre
00041                 wait(0.2);
00042                 motor.write(0.3); //full forward
00043                 wait(1);
00044             }
00045             /*
00046             if (recd_val==2)
00047             {
00048                 led3=1;
00049                 forward=1;
00050                 steering.pulsewidth (0.0009);//right
00051                 wait(0.2);
00052                 motor.write(0.3); //full forward
00053                 wait(1);
00054             }
00055             */
00056             if (recd_val==3)
00057             {
00058                 led3=1;
00059                 forward=1;
00060                 steering.pulsewidth (0.0009);//right
00061                 wait(0.2);
00062                 motor.write(0.3);//forward
00063                 wait(1);
00064             } 
00065             /*   
00066             if(recd_val==4)
00067             {
00068                 led3=1;
00069                 back=1;
00070                 steering.pulsewidth (0.0009);//right
00071                 wait(0.2);
00072                 motor.write(0.6); //full backwards
00073                 wait(1);
00074             }*/
00075             if (recd_val==5)
00076             {
00077                 led1=1;
00078                 back=1;
00079                 steering.pulsewidth (0.0015);//center
00080                 motor.write(0.6); //full backwards 
00081                 wait(1);
00082             }
00083             /*
00084             if(recd_val==6)
00085             {
00086                 led2=1;
00087                 back=1;
00088                 steering.pulsewidth (0.0021);//LEFT 
00089                 wait(0.2);   
00090                 motor.write(0.6); //full backwards 
00091                 wait(1);
00092             }
00093             */           
00094             if (recd_val==7)
00095             {
00096                 led2=1;
00097                 forward=1;
00098                 steering.pulsewidth (0.0021);//LEFT 
00099                 wait(0.2);
00100                 motor.write(0.3); //full forward
00101                 wait(1);
00102                 led1=0;
00103                 led2=0;
00104                 led3=0;
00105             }
00106             /*
00107             if (recd_val==8)
00108             {
00109                 led2=1;
00110                 forward=1;
00111                 steering.pulsewidth (0.0021);//LEFT 
00112                 wait(0.2);
00113                 motor.write(0.3); //full FORWARD
00114                 wait(1);
00115             }
00116             */
00117             if (recd_val==9)
00118             {
00119                  stop=1;
00120                  steering.pulsewidth(0.0015);//stop
00121                  wait(0.2);
00122                  motor.write(0.5);//stop
00123                  wait(1);
00124             }
00125             if (recd_val==0)
00126             {
00127                  stop=1;
00128                  steering.pulsewidth(0.0015);//stop
00129                  wait(0.2);
00130                  motor.write(0.5);//stop
00131                  wait(1);
00132             }
00133         }  
00134     }  
00135 }