Nicolae Marton / Mbed 2 deprecated TDP3_OOP

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Dependencies:   mbed

LineFollowingRobot/main.cpp@0:a02a278513d9, 2019-01-26 (annotated)

Committer:
Nicolaemf
Date:
Sat Jan 26 18:18:13 2019 +0000
Revision:
0:a02a278513d9
Child:
1:a2ceed49374e
implementation of robot motor driver code, in seperate files and using oop;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nicolaemf 0:a02a278513d9 1 #include <mbed.h>
Nicolaemf 0:a02a278513d9 2 #include "RobotControl_H.h"
Nicolaemf 0:a02a278513d9 3
Nicolaemf 0:a02a278513d9 4 DigitalIn leftIR(PTC6);
Nicolaemf 0:a02a278513d9 5 DigitalIn midLeftIR(PTC5);
Nicolaemf 0:a02a278513d9 6 DigitalIn midIR(PTC4);
Nicolaemf 0:a02a278513d9 7 DigitalIn midRightIR(PTC3);
Nicolaemf 0:a02a278513d9 8 DigitalIn rightIR(PTC0);
Nicolaemf 0:a02a278513d9 9
Nicolaemf 0:a02a278513d9 10 Ticker sampling;
Nicolaemf 0:a02a278513d9 11 bool lineSensor[5], toggle2 = false;
Nicolaemf 0:a02a278513d9 12
Nicolaemf 0:a02a278513d9 13
Nicolaemf 0:a02a278513d9 14 void Sample(){
Nicolaemf 0:a02a278513d9 15 //function attached to the ticker
Nicolaemf 0:a02a278513d9 16 //assigns the data recieved for each digital in into an array
Nicolaemf 0:a02a278513d9 17 //toggle is toggled at every ISR, signifying the ISR has occured
Nicolaemf 0:a02a278513d9 18
Nicolaemf 0:a02a278513d9 19 lineSensor[0] = leftIR;
Nicolaemf 0:a02a278513d9 20 lineSensor[1] = midLeftIR;
Nicolaemf 0:a02a278513d9 21 lineSensor[2] = midIR;
Nicolaemf 0:a02a278513d9 22 lineSensor[3] = midRightIR;
Nicolaemf 0:a02a278513d9 23 lineSensor[4] = rightIR;
Nicolaemf 0:a02a278513d9 24
Nicolaemf 0:a02a278513d9 25 toggle2 = !toggle2;
Nicolaemf 0:a02a278513d9 26 }
Nicolaemf 0:a02a278513d9 27
Nicolaemf 0:a02a278513d9 28
Nicolaemf 0:a02a278513d9 29
Nicolaemf 0:a02a278513d9 30
Nicolaemf 0:a02a278513d9 31 int main(){
Nicolaemf 0:a02a278513d9 32
Nicolaemf 0:a02a278513d9 33 //get a first reading
Nicolaemf 0:a02a278513d9 34 Sample();
Nicolaemf 0:a02a278513d9 35 sampling.attach(&Sample, 0.01);
Nicolaemf 0:a02a278513d9 36
Nicolaemf 0:a02a278513d9 37 RobotControl controlLeft(PTC12,PTD4,PTA5);
Nicolaemf 0:a02a278513d9 38 RobotControl controlRight(PTA13,PTA12,PTA4);
Nicolaemf 0:a02a278513d9 39
Nicolaemf 0:a02a278513d9 40
Nicolaemf 0:a02a278513d9 41
Nicolaemf 0:a02a278513d9 42 while(1){
Nicolaemf 0:a02a278513d9 43 wait(1);
Nicolaemf 0:a02a278513d9 44 }
Nicolaemf 0:a02a278513d9 45
Nicolaemf 0:a02a278513d9 46 }