Hsieh JenYun / Mbed OS agv20190417

test0417

Dependencies:   ros_lib_indigo

main.cpp@3:996d0d74fb11, 2018-10-24 (annotated)

Committer:
Tanakacool
Date:
Wed Oct 24 06:09:41 2018 +0000
Revision:
3:996d0d74fb11
Parent:
2:3d64970eeb96
Child:
4:186241a75818
V2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 0:f76c26307f9a 1 #include "mbed.h"
cathy101 1:6926cb0de2b0 2
Tanakacool 2:3d64970eeb96 3 DigitalOut led_red(LED_RED);
Tanakacool 2:3d64970eeb96 4 InterruptIn sw2(SW2);
Tanakacool 2:3d64970eeb96 5 I2C i2c( PTB1, PTB0);
mbed_official 0:f76c26307f9a 6
Tanakacool 2:3d64970eeb96 7 Serial serialPort( PTE0, PTE1);
Tanakacool 2:3d64970eeb96 8
Tanakacool 3:996d0d74fb11 9 char motobuffer[3];
Tanakacool 3:996d0d74fb11 10
Tanakacool 2:3d64970eeb96 11 int Right_ADDR = 0x14<<1;
Tanakacool 3:996d0d74fb11 12 int Left_ADDR = 0x15<<1;
mbed_official 0:f76c26307f9a 13
Tanakacool 2:3d64970eeb96 14 void sw2_release(void)
Tanakacool 2:3d64970eeb96 15 {
Tanakacool 2:3d64970eeb96 16 led_red = !led_red;
Tanakacool 2:3d64970eeb96 17 serialPort.printf("On-board button SW2 was released.\n");
Tanakacool 2:3d64970eeb96 18 }
Tanakacool 2:3d64970eeb96 19 void Driving_Right(void)
Tanakacool 2:3d64970eeb96 20 {
Tanakacool 2:3d64970eeb96 21 i2c.start();
Tanakacool 2:3d64970eeb96 22 i2c.write(Right_ADDR);
Tanakacool 2:3d64970eeb96 23 i2c.write(0);
Tanakacool 2:3d64970eeb96 24 i2c.write(0xe2);
Tanakacool 3:996d0d74fb11 25 i2c.write(0);
Tanakacool 2:3d64970eeb96 26 i2c.stop();
Tanakacool 2:3d64970eeb96 27 }
Tanakacool 2:3d64970eeb96 28 void Driving_Left(void)
Tanakacool 2:3d64970eeb96 29 {
Tanakacool 2:3d64970eeb96 30 i2c.start();
Tanakacool 2:3d64970eeb96 31 i2c.write(Left_ADDR);
Tanakacool 2:3d64970eeb96 32 i2c.write(0);
Tanakacool 3:996d0d74fb11 33 i2c.write(motobuffer[1]);
Tanakacool 3:996d0d74fb11 34 i2c.write(motobuffer[2]);
Tanakacool 2:3d64970eeb96 35 i2c.stop();
Tanakacool 2:3d64970eeb96 36 }
Tanakacool 2:3d64970eeb96 37
Tanakacool 2:3d64970eeb96 38 int main()
Tanakacool 2:3d64970eeb96 39 {
Tanakacool 2:3d64970eeb96 40
Tanakacool 2:3d64970eeb96 41 sw2.rise(&sw2_release);
Tanakacool 2:3d64970eeb96 42 serialPort.baud(115200);
Tanakacool 2:3d64970eeb96 43 serialPort.printf("WPI Serial Port Started\n");
Tanakacool 3:996d0d74fb11 44
Tanakacool 3:996d0d74fb11 45 i2c.frequency(100000);
Tanakacool 2:3d64970eeb96 46 wait_ms(100);
Tanakacool 3:996d0d74fb11 47
Tanakacool 3:996d0d74fb11 48 int motorOutPut=2000;
Tanakacool 3:996d0d74fb11 49 motobuffer[0]=0x00;
Tanakacool 3:996d0d74fb11 50 motobuffer[1]= motorOutPut>>8;
Tanakacool 3:996d0d74fb11 51 motobuffer[2]=motorOutPut;
Tanakacool 3:996d0d74fb11 52
Tanakacool 2:3d64970eeb96 53 Driving_Right();
Tanakacool 2:3d64970eeb96 54 wait_ms(100);
Tanakacool 2:3d64970eeb96 55 Driving_Left();
Tanakacool 3:996d0d74fb11 56
Tanakacool 2:3d64970eeb96 57 while (true) {
Tanakacool 2:3d64970eeb96 58
mbed_official 0:f76c26307f9a 59 }
Tanakacool 2:3d64970eeb96 60 }