Diff: main.cpp

Revision:

0:6893dd9a88b3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 14 04:58:43 2011 +0000
@@ -0,0 +1,73 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "movement.h"
+
+Serial pc(USBTX,USBRX);
+
+DigitalOut myled(LED1);
+
+AnalogIn rightsensorval(p15);
+AnalogIn leftsensorval(p16);
+
+DigitalOut rightsensorcontrol(p5);
+DigitalOut leftsensorcontrol(p6);
+
+Motor motor_right(p21,p7,p8);
+Motor motor_left(p22,p9,p10);
+
+
+volatile int rightspokecount = 0;
+volatile int leftspokecount = 0;
+
+volatile int rightspokecountrequired = 0;
+volatile int leftspokecountrequired = 0;
+
+volatile float rightmotorspeed = 1;
+volatile float leftmotorspeed = 1;
+
+Ticker charge_period;
+Ticker discharge_period;
+
+int main() {
+    
+    QTIsensor_init();
+    charge_period.attach(&QTIsensor_charge,0.02);
+    wait_ms(0.5);
+    discharge_period.attach(&QTIsensor_discharge,0.02);
+    while(1) {
+        //calibratemotors();
+        myled = 1;
+        wait(0.4);
+        move(2);
+        //motors_stop();
+        while((rightspokecount < rightspokecountrequired) || (leftspokecount < leftspokecountrequired)){
+            pc.printf("right = %d, left =%d\n\r",rightspokecount,leftspokecount);
+            float right = rightsensorval;
+            float left = leftsensorval;
+            pc.printf("rightval = %f, leftval =%f\n\r",right,left);
+            wait(0.2);
+        }
+        motors_stop();
+        wait(1);
+        move(-2);
+        while((rightspokecount < rightspokecountrequired) || (leftspokecount < leftspokecountrequired)){
+            pc.printf("right = %d, left =%d\n\r",rightspokecount,leftspokecount);
+            float right = rightsensorval;
+            float left = leftsensorval;
+            pc.printf("rightval = %f, leftval =%f\n\r",right,left);
+            wait(0.2);
+        }
+        motors_stop();
+        //motor_reset = 1;
+        //goforward(right,left,0.5);
+        //wait(1.5);
+        
+        myled = 0;
+        wait(0.4);
+        //gobackward(right,left,0.5);
+        //wait(1.5);
+    }
+}
+
+
+