Tony YI
/
ESDC2014
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main.cpp@2:442902ec3aa1, 2014-07-03 (annotated)
- Committer:
- terryLAI
- Date:
- Thu Jul 03 10:59:37 2014 +0000
- Revision:
- 2:442902ec3aa1
- Parent:
- 1:cbec1283a16a
- Child:
- 3:4306d042af6f
aa
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
TonyYI | 0:3417ca0a36c0 | 1 | /****************************************************** |
TonyYI | 0:3417ca0a36c0 | 2 | |
TonyYI | 0:3417ca0a36c0 | 3 | ****┏┓ ┏┓ |
TonyYI | 0:3417ca0a36c0 | 4 | **┏┛┻━━━━━━┛┻┓ |
TonyYI | 0:3417ca0a36c0 | 5 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 6 | **┃ ━━━ ┃ |
TonyYI | 0:3417ca0a36c0 | 7 | **┃ ┳┛ ┗┳ ┃ |
TonyYI | 0:3417ca0a36c0 | 8 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 9 | **┃ ''' ┻ ''' ┃ |
TonyYI | 0:3417ca0a36c0 | 10 | **┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 11 | **┗━━┓ ┏━━┛ |
TonyYI | 0:3417ca0a36c0 | 12 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 13 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 14 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 15 | *******┃ ┗━━━━━━━━┓ |
TonyYI | 0:3417ca0a36c0 | 16 | *******┃ ┃━┓ |
TonyYI | 0:3417ca0a36c0 | 17 | *******┃ NO BUG ┏━┛ |
TonyYI | 0:3417ca0a36c0 | 18 | *******┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 19 | *******┗━┓ ┓ ┏━┏━┓ ━┛ |
TonyYI | 0:3417ca0a36c0 | 20 | ***********┃ ┛ ┛ ┃ ┛ ┛ |
TonyYI | 0:3417ca0a36c0 | 21 | ***********┃ ┃ ┃ ┃ ┃ ┃ |
TonyYI | 0:3417ca0a36c0 | 22 | ***********┗━┛━┛ ┗━┛━┛ |
TonyYI | 0:3417ca0a36c0 | 23 | |
TonyYI | 0:3417ca0a36c0 | 24 | This part is added by project ESDC2014 of CUHK team. |
TonyYI | 0:3417ca0a36c0 | 25 | All the code with this header are under GPL open source license. |
TonyYI | 0:3417ca0a36c0 | 26 | This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'. |
TonyYI | 0:3417ca0a36c0 | 27 | **********************************************************/ |
TonyYI | 0:3417ca0a36c0 | 28 | #include "mbed.h" |
TonyYI | 0:3417ca0a36c0 | 29 | #include "communication.h" |
TonyYI | 0:3417ca0a36c0 | 30 | #include "port.h" |
TonyYI | 0:3417ca0a36c0 | 31 | |
TonyYI | 0:3417ca0a36c0 | 32 | int main() |
TonyYI | 0:3417ca0a36c0 | 33 | { |
TonyYI | 0:3417ca0a36c0 | 34 | init_PORT(); |
terryLAI | 1:cbec1283a16a | 35 | |
TonyYI | 0:3417ca0a36c0 | 36 | while(1) |
TonyYI | 0:3417ca0a36c0 | 37 | { |
terryLAI | 1:cbec1283a16a | 38 | buzzer.OFF(); |
TonyYI | 0:3417ca0a36c0 | 39 | com.parseMessage(); |
terryLAI | 1:cbec1283a16a | 40 | buzzer.time_out_init(); |
TonyYI | 0:3417ca0a36c0 | 41 | if(com.getInfoOK(0) == 1) //car |
TonyYI | 0:3417ca0a36c0 | 42 | { |
TonyYI | 0:3417ca0a36c0 | 43 | com.forwardMessage(); |
TonyYI | 0:3417ca0a36c0 | 44 | com.ACK(&lifter, &camera_platform); |
TonyYI | 0:3417ca0a36c0 | 45 | com.resetInfoOK(0); |
TonyYI | 0:3417ca0a36c0 | 46 | com.resetInfoOK(1); |
TonyYI | 0:3417ca0a36c0 | 47 | } |
TonyYI | 0:3417ca0a36c0 | 48 | else if(com.getInfoOK(0) == 2) //lifter |
TonyYI | 0:3417ca0a36c0 | 49 | { |
TonyYI | 0:3417ca0a36c0 | 50 | lifter.lifterMove(com.getMoveDis(), com.getMoveDir(), com.getRotateDis(), com.getRotateDir()); |
TonyYI | 0:3417ca0a36c0 | 51 | com.ACK(&lifter, &camera_platform); |
TonyYI | 0:3417ca0a36c0 | 52 | com.resetInfoOK(0); |
TonyYI | 0:3417ca0a36c0 | 53 | com.resetInfoOK(1); |
TonyYI | 0:3417ca0a36c0 | 54 | } |
TonyYI | 0:3417ca0a36c0 | 55 | else if(com.getInfoOK(0) == 3) //camera_platform |
TonyYI | 0:3417ca0a36c0 | 56 | { |
TonyYI | 0:3417ca0a36c0 | 57 | camera_platform.cameraPlatformMove(com.getMoveDis(), com.getMoveDir(), com.getRotateDis(), com.getRotateDir()); |
TonyYI | 0:3417ca0a36c0 | 58 | com.ACK(&lifter, &camera_platform); |
TonyYI | 0:3417ca0a36c0 | 59 | com.resetInfoOK(0); |
TonyYI | 0:3417ca0a36c0 | 60 | com.resetInfoOK(1); |
TonyYI | 0:3417ca0a36c0 | 61 | } |
TonyYI | 0:3417ca0a36c0 | 62 | else if(com.getInfoOK(0) == 4) //compass |
TonyYI | 0:3417ca0a36c0 | 63 | { |
TonyYI | 0:3417ca0a36c0 | 64 | com.ACK(&lifter, &camera_platform); |
TonyYI | 0:3417ca0a36c0 | 65 | com.resetInfoOK(0); |
TonyYI | 0:3417ca0a36c0 | 66 | com.resetInfoOK(1); |
TonyYI | 0:3417ca0a36c0 | 67 | } |
terryLAI | 2:442902ec3aa1 | 68 | |
terryLAI | 2:442902ec3aa1 | 69 | else if(com.getInfoOK(0) == 5) //compass |
terryLAI | 2:442902ec3aa1 | 70 | { |
terryLAI | 2:442902ec3aa1 | 71 | buzzer.ON(); |
terryLAI | 2:442902ec3aa1 | 72 | wait(0.1); |
terryLAI | 2:442902ec3aa1 | 73 | buzzer.OFF(); |
terryLAI | 2:442902ec3aa1 | 74 | wait(0.1); |
terryLAI | 2:442902ec3aa1 | 75 | buzzer.ON(); |
terryLAI | 2:442902ec3aa1 | 76 | wait(0.2); |
terryLAI | 2:442902ec3aa1 | 77 | buzzer.OFF(); |
terryLAI | 2:442902ec3aa1 | 78 | com.ACK(&lifter, &camera_platform); |
terryLAI | 2:442902ec3aa1 | 79 | com.resetInfoOK(0); |
terryLAI | 2:442902ec3aa1 | 80 | com.resetInfoOK(1); |
terryLAI | 2:442902ec3aa1 | 81 | } |
terryLAI | 2:442902ec3aa1 | 82 | |
terryLAI | 1:cbec1283a16a | 83 | buzzer.cleanFlag(); |
TonyYI | 0:3417ca0a36c0 | 84 | } |
terryLAI | 1:cbec1283a16a | 85 | } |
terryLAI | 1:cbec1283a16a | 86 | |
terryLAI | 1:cbec1283a16a | 87 | |
terryLAI | 1:cbec1283a16a | 88 | |
terryLAI | 1:cbec1283a16a | 89 |