Diff: control.cpp

Revision:

4:48d390356fba

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control.cpp	Thu Feb 22 17:01:00 2018 +0000
@@ -0,0 +1,72 @@
+#include "mbed.h"
+#include "pwm.h"
+#include "pins.h"
+#include "constants.cpp"
+#include "C12832.h"
+#include "encoderBase.h"
+
+void buggyGoLeft();
+void buggyGoF();
+void buggyGoRight();
+void buggyStop();
+
+void controlAutomatic(int flag){ //this is a showoff version
+    while(flag==1){
+    wait(0.5);
+    buggyGoF();
+    wait(2);
+    buggyGoLeft();
+    wait(2);
+    buggyGoRight();
+    wait(2);
+    buggyStop();
+    }
+}
+void controlManual(int flag){
+    while (1){ //this function is for manual wheel turnage using the potentiometers. Knock yourself out
+    while(1){
+       if(joystickDown!=0) break;
+       
+       float rightPWM= (float)potentiometerRight.read() ;
+       float leftPWM= (float)potentiometerLeft.read();
+       lcd.locate(0,3);
+       lcd.printf("L=%d;    R=%d", encoderVelocityLeft(), encoderVelocityRight());
+       //wait(2);
+       lcd.cls();
+    buggyPWM(leftPWM ,rightPWM);
+    }
+    wait(0.5);
+    buggyGoF();
+    wait(1);
+    buggyGoLeft();
+    wait(2);
+    buggyGoRight();
+    wait(2);
+    buggyGoF();
+    wait (1);
+    buggyStop();
+    }
+    }
+    
+    
+void stateMachine(int flag){
+    while (1){ //depending on the flag  changes the state. Not efficient, since relies on looping the whole thing, but will do for now
+    switch(flag){
+        case 0: controlManual(flag);
+        case 1:controlAutomatic(flag);
+                break;
+        }
+        }
+    }
+void buggyGoLeft(){
+    buggyPWM(SLOW_PWM, FAST_PWM);
+    }
+void buggyGoRight(){
+    buggyPWM(FAST_PWM, SLOW_PWM);
+    }
+void buggyGoF(){
+    buggyPWM(NORMAL_PWM, NORMAL_PWM);
+    }
+void buggyStop(){
+    buggyPWM(0.0f, 0.0f);
+    }
\ No newline at end of file