Diff: LineFollowingRobot/main.cpp

Revision:

0:a02a278513d9

Child:

1:a2ceed49374e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LineFollowingRobot/main.cpp	Sat Jan 26 18:18:13 2019 +0000
@@ -0,0 +1,46 @@
+#include <mbed.h>
+#include "RobotControl_H.h"
+
+DigitalIn leftIR(PTC6);
+DigitalIn midLeftIR(PTC5);
+DigitalIn midIR(PTC4);
+DigitalIn midRightIR(PTC3);
+DigitalIn rightIR(PTC0);
+
+Ticker sampling;
+bool lineSensor[5], toggle2 = false;
+
+
+void Sample(){
+    //function attached to the ticker
+    //assigns the data recieved for each digital in into an array
+    //toggle is toggled at every ISR, signifying the ISR has occured
+    
+    lineSensor[0] = leftIR;
+    lineSensor[1] = midLeftIR;
+    lineSensor[2] = midIR;
+    lineSensor[3] = midRightIR;
+    lineSensor[4] = rightIR;
+    
+    toggle2 = !toggle2;
+}
+
+
+
+
+int main(){
+
+//get a first reading
+Sample();
+sampling.attach(&Sample, 0.01);
+
+RobotControl controlLeft(PTC12,PTD4,PTA5);
+RobotControl controlRight(PTA13,PTA12,PTA4);
+
+
+ 
+ while(1){
+    wait(1);
+    }   
+    
+}
\ No newline at end of file