Diff: main.cpp

Revision:

1:19d647492936

Parent:

0:993cd673f077

--- a/main.cpp	Mon Jun 13 07:41:53 2011 +0000
+++ b/main.cpp	Thu Nov 10 13:29:43 2011 +0000
@@ -1,105 +1,29 @@
-#include "include_file.h"
+#include "library.h"
+#include   "motor.h"
+#include   "servo.h"
 
 int main( int argc, char **argv )
 {
-    char key;
+    char s;
     float d = 0.5;
+    
+    setSystemFrequency( 0x3, 0x1, 12, 1 ); // M=12, N=1, 96MHz
+        
     device.baud( 115200 );
+    servo.baud( 115200 );
+    led1.period_us( 10 );
+    led2.period_us( 10 );
     right_pwm.period_us( 10 );
     left_pwm.period_us( 10 );
-    enable.write( 1 );
+    enable.write( 1.0 );
+    led1.write( 1.0 );
+    led2.write( 1.0 );
     
-    device.putc('s');
-    device.printf("f:forward, b:back, r:turn_right\n"
-                  "l:turn_left, a:duty+=0.01, m:duty-=0.01\n");
-    while( 1 )
+    device.printf("Start:'0'\n");
+    while( s != 0 )
     {
-        key = device.getc();
-        switch( key )
-        {
-            case 'f':
-                move_f( d );
-                break;
-            case 'b':
-                move_b( d );
-                break;
-            case 'r':
-                turn_r( d );
-                break;
-            case 'l':
-                turn_l( d );
-                break;
-            case 's':
-                stop();
-                break;
-            case 'a':
-                d += 0.01;
-                break;
-            case 'm':
-                d -= 0.01;
-                break;
-            default:
-                break;
-        }
-        device.printf("duty = %1.2f\r", d);
-        wait_ms( 10 );
+        s = device.getc();
     }
-}
-
-void move_f( float d )
-{
-    right_P.write( 0 );
-    right_N.write( 1 );
-    left_P.write( 1 );
-    left_N.write( 0 );
-    right_pwm.write( d );
-    left_pwm.write( d );
-    /*right_pwm.pulsewidth_us( d );
-    left_pwm.pulsewidth_us( d );*/
-}
-
-void move_b( float d )
-{
-    right_P.write( 1 );
-    right_N.write( 0 );
-    left_P.write( 0 );
-    left_N.write( 1 );
-    right_pwm.write( d );
-    left_pwm.write( d );
-    /*right_pwm.pulsewidth_us( d );
-    left_pwm.pulsewidth_us( d );*/
-}
-
-void turn_r( float d )
-{
-    right_P.write( 0 );
-    right_N.write( 1 );
-    left_P.write( 0 );
-    left_N.write( 1 );
-    right_pwm.write( d );
-    left_pwm.write( d );
-    /*right_pwm.pulsewidth_us( d );
-    left_pwm.pulsewidth_us( d );*/
-}
-
-void turn_l( float d )
-{
-    right_P.write( 1 );
-    right_N.write( 0 );
-    left_P.write( 1 );
-    left_N.write( 0 );
-    right_pwm.write( d );
-    left_pwm.write( d );
-    /*right_pwm.pulsewidth_us( d );
-    left_pwm.pulsewidth_us( d );*/
-}
-
-void stop( void )
-{
-    right_P.write( 0 );
-    right_N.write( 0 );
-    left_P.write( 0 );
-    left_N.write( 0 );
-    right_pwm.write( 0 );
-    left_pwm.write( 0 );
+    //control_servo();
+    qei();
 }
\ No newline at end of file