main.cpp

00001 /******************************************************
00002 
00003 ****┏┓          ┏┓
00004 **┏┛┻━━━━━━┛┻┓
00005 **┃                 ┃
00006 **┃      ━━━      ┃
00007 **┃  ┳┛       ┗┳ ┃
00008 **┃                 ┃
00009 **┃ '''    ┻   ''' ┃
00010 **┃                 ┃
00011 **┗━━┓       ┏━━┛
00012 *******┃       ┃
00013 *******┃       ┃
00014 *******┃       ┃
00015 *******┃       ┗━━━━━━━━┓
00016 *******┃                      ┃━┓
00017 *******┃      NO BUG          ┏━┛
00018 *******┃                      ┃
00019 *******┗━┓  ┓  ┏━┏━┓  ━┛
00020 ***********┃  ┛  ┛    ┃  ┛  ┛
00021 ***********┃  ┃  ┃    ┃  ┃  ┃
00022 ***********┗━┛━┛     ┗━┛━┛
00023 
00024 This part is added by project ESDC2014 of CUHK team.
00025 All the code with this header are under GPL open source license.
00026 This program is running on Mbed Platform 'mbed LPC1768' avaliable in 'http://mbed.org'.
00027 **********************************************************/
00028 #include "mbed.h"
00029 #include "communication.h"
00030 #include "port.h"
00031 
00032 int main()
00033 {
00034     init_PORT();
00035    
00036     while(1)
00037     {
00038         buzzer.OFF();
00039         com.parseMessage();
00040         buzzer.time_out_init();
00041         if(com.getInfoOK(0) == 1) //car
00042         {
00043             printf("main(). Car action starting...\r\n");
00044             com.forwardMessage();
00045             com.ACK(&lifter, &camera_platform);
00046             com.resetInfoOK(0);
00047             com.resetInfoOK(1);
00048             printf("main(). Car action ended...\r\n");
00049         }
00050         else if(com.getInfoOK(0) == 2) //lifter
00051         {
00052             printf("main(). Lifter action starting...\r\n");
00053             lifter.lifterMove(com.getMoveDis(), com.getMoveDir(), com.getRotateDis(), com.getRotateDir());
00054             com.ACK(&lifter, &camera_platform);
00055             com.resetInfoOK(0);
00056             com.resetInfoOK(1);
00057             printf("main(). Lifter action ended...\r\n");
00058         }
00059         else if(com.getInfoOK(0) == 3) //camera_platform
00060         {
00061             printf("main(). camera_platform action starting...\r\n");
00062             camera_platform.cameraPlatformMove(com.getMoveDis(), com.getMoveDir(), com.getRotateDis(), com.getRotateDir());
00063             com.ACK(&lifter, &camera_platform);
00064             com.resetInfoOK(0);
00065             com.resetInfoOK(1);
00066             printf("main(). Camera_platform action ended...\r\n");
00067         }
00068         else if(com.getInfoOK(0) == 4) //compass
00069         {
00070             printf("main(). Compass action starting...\r\n");
00071             com.ACK(&lifter, &camera_platform);
00072             com.resetInfoOK(0);
00073             com.resetInfoOK(1);
00074             printf("main(). Compass action ended...\r\n");
00075         }
00076         else if(com.getInfoOK(0) == 5) //buzzer
00077         {
00078             printf("main(). Buzzer action starting...\r\n");
00079             buzzer.ON();
00080             wait(0.1);
00081             buzzer.OFF();
00082             wait(0.1);
00083             buzzer.ON();
00084             wait(0.2);
00085             buzzer.OFF();
00086             com.ACK(&lifter, &camera_platform);
00087             com.resetInfoOK(0);
00088             com.resetInfoOK(1);
00089             printf("main(). Buzzer action ended...\r\n");
00090         }
00091         
00092         buzzer.cleanFlag();
00093     }
00094 }
00095 
00096 
00097 
00098