Xiaofei Qiu / Mbed 2 deprecated Robot_and_Controller

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Dependencies:   Command CommandPool GenCMD LSM9DS0 Mode Motor PinDetect Xbee mbed

Fork of VR_Robot by Xiaofei Qiu

main.cpp@7:348c8891e542, 2015-11-28 (annotated)

Committer:
Xiaofei
Date:
Sat Nov 28 19:48:30 2015 +0000
Revision:
7:348c8891e542
Parent:
6:7a38f754e030
Child:
8:cc8fe9b9949f
C

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Xiaofei 7:348c8891e542 1 // Controller code
Xiaofei 7:348c8891e542 2 #pragma once
Xiaofei 7:348c8891e542 3 #include "mbed.h"
Xiaofei 7:348c8891e542 4 #include "CommandPool.h"
Xiaofei 7:348c8891e542 5 #include "Xbee.h"
Xiaofei 7:348c8891e542 6 #include "GenCMD.h"
Xiaofei 7:348c8891e542 7 #include "PinDetect.h"
Xiaofei 7:348c8891e542 8 #include "Mode.h"
Xiaofei 7:348c8891e542 9
Xiaofei 7:348c8891e542 10 GenCMD gen_cmd;
Xiaofei 7:348c8891e542 11 Xbee xbee(p9,p10,p11);
Xiaofei 7:348c8891e542 12 DigitalOut led(LED1);
Xiaofei 7:348c8891e542 13 Mode mode;
Xiaofei 7:348c8891e542 14 char cmd_buffer = '\0';
Xiaofei 7:348c8891e542 15
Xiaofei 7:348c8891e542 16 Serial pc(USBTX,USBRX);
Xiaofei 7:348c8891e542 17
Xiaofei 7:348c8891e542 18 int main()
Xiaofei 7:348c8891e542 19 {
Xiaofei 7:348c8891e542 20 gen_cmd.init();
Xiaofei 7:348c8891e542 21 xbee.Reset();
Xiaofei 7:348c8891e542 22
Xiaofei 7:348c8891e542 23 while(1)
Xiaofei 7:348c8891e542 24 {
Xiaofei 7:348c8891e542 25 if(mode.on)
Xiaofei 7:348c8891e542 26 {
Xiaofei 7:348c8891e542 27 gen_cmd.GenerateCMD(cmd_buffer);
Xiaofei 7:348c8891e542 28 xbee.Send(cmd_buffer);
Xiaofei 7:348c8891e542 29 led = !led;
Xiaofei 7:348c8891e542 30 }
Xiaofei 7:348c8891e542 31 else
Xiaofei 7:348c8891e542 32 {
Xiaofei 7:348c8891e542 33 xbee.Send(STOP);
Xiaofei 7:348c8891e542 34 }
Xiaofei 7:348c8891e542 35
Xiaofei 7:348c8891e542 36 wait(0.01);
Xiaofei 7:348c8891e542 37 }
Xiaofei 7:348c8891e542 38 return 0;
Xiaofei 7:348c8891e542 39 }
Xiaofei 7:348c8891e542 40
Xiaofei 7:348c8891e542 41 /* Robot code
Xiaofei 2:d77f669c7feb 42 #pragma once
Xiaofei 0:526a865b9b03 43 #include "mbed.h"
Xiaofei 0:526a865b9b03 44 #include "CommandPool.h"
Xiaofei 2:d77f669c7feb 45 #include "Xbee.h"
Xiaofei 5:c1b3251ba5d5 46 #include "GenCMD.h"
Xiaofei 0:526a865b9b03 47
Xiaofei 0:526a865b9b03 48 Command* cmd;
Xiaofei 0:526a865b9b03 49 CommandPool pool;
Xiaofei 5:c1b3251ba5d5 50 GenCMD gen_cmd;
Xiaofei 5:c1b3251ba5d5 51 Xbee xbee(p9,p10,p11);
Xiaofei 6:7a38f754e030 52 DigitalOut led(LED1);
Xiaofei 5:c1b3251ba5d5 53
Xiaofei 7:348c8891e542 54 char cmd_buffer='\0';
Xiaofei 6:7a38f754e030 55
Xiaofei 0:526a865b9b03 56 int main()
Xiaofei 0:526a865b9b03 57 {
Xiaofei 0:526a865b9b03 58 pool.init();
Xiaofei 7:348c8891e542 59 xbee.Reset();
Xiaofei 2:d77f669c7feb 60
Xiaofei 0:526a865b9b03 61 while(1)
Xiaofei 0:526a865b9b03 62 {
Xiaofei 7:348c8891e542 63 xbee.Recv(cmd_buffer);
Xiaofei 7:348c8891e542 64 pc.printf("%i\n",cmd_buffer);
Xiaofei 7:348c8891e542 65 cmd = pool.getCommand(cmd_buffer);
Xiaofei 7:348c8891e542 66 if(cmd)
Xiaofei 7:348c8891e542 67 {
Xiaofei 7:348c8891e542 68 cmd->execute();
Xiaofei 7:348c8891e542 69 }
Xiaofei 6:7a38f754e030 70 led = !led;
Xiaofei 7:348c8891e542 71 wait(0.01);
Xiaofei 0:526a865b9b03 72 }
Xiaofei 0:526a865b9b03 73 return 0;
Xiaofei 0:526a865b9b03 74 }
Xiaofei 7:348c8891e542 75 */