main.cpp

00001 /*******************************************************************************
00002 * This program demonstrates how to drive the RenBuggy_Servo
00003 * using the Car library.
00004 * 
00005 * Mark Jones 
00006 * V1.0 05/03/2014
00007 *******************************************************************************/
00008 
00009 #include "mbed.h"
00010 #include "Car.h"
00011 
00012 Car myCar(P1_26, P1_24, 16, 16.65f, P0_7);
00013 
00014 // Main entry point of application.
00015 int main() {
00016     
00017     const int SERVO_PWM = 1500;             // 1500 = centre.
00018     const int SERVO_PWM_PERIOD = 2000;  
00019     const int SERVO_PWM_RANGE = 500;        // + or - 500 microseconds.
00020     const float SERVO_DEGREES_RANGE = 45.0; // + or - from centre is full right/left.
00021     
00022     const int MOTOR_PWM = 20000;
00023     const int MOTOR_PERIOD = 20000;
00024     
00025     // Configure the servo and motor before use.
00026     myCar.configureServo_us(SERVO_PWM, SERVO_PWM_PERIOD, 
00027     SERVO_PWM_RANGE, SERVO_DEGREES_RANGE);
00028     
00029     myCar.configureMotor_us(MOTOR_PWM, MOTOR_PERIOD);
00030     
00031     myCar.setDirection(0);
00032     
00033     myCar.forwards(7);
00034     myCar.setDirection(45);
00035     myCar.forwards(20);
00036     myCar.setDirection(-30);
00037     myCar.forwards(20);    
00038 }