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Dependencies: Command CommandPool GenCMD LSM9DS0 Mode Motor PinDetect Xbee mbed
Fork of
VR_Robot
by 
Xiaofei Qiu
Revision 8:cc8fe9b9949f, committed 2015-11-29
- Comitter:
- Xiaofei
- Date:
- Sun Nov 29 00:03:57 2015 +0000
- Parent:
- 7:348c8891e542
- Commit message:
- C
Changed in this revision
--- a/Command.lib Sat Nov 28 19:48:30 2015 +0000 +++ b/Command.lib Sun Nov 29 00:03:57 2015 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/Xiaofei/code/Command/#0032e2f8949c +https://developer.mbed.org/users/Xiaofei/code/Command/#6e32b53f04c3
--- a/CommandPool.lib Sat Nov 28 19:48:30 2015 +0000 +++ b/CommandPool.lib Sun Nov 29 00:03:57 2015 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/Xiaofei/code/CommandPool/#88382274a161 +https://developer.mbed.org/users/Xiaofei/code/CommandPool/#4a795f28545b
--- a/GenCMD.lib Sat Nov 28 19:48:30 2015 +0000 +++ b/GenCMD.lib Sun Nov 29 00:03:57 2015 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/Xiaofei/code/GenCMD/#fa3463ce7e27 +https://developer.mbed.org/users/Xiaofei/code/GenCMD/#bed29bba3f0e
--- a/Mode.lib Sat Nov 28 19:48:30 2015 +0000 +++ b/Mode.lib Sun Nov 29 00:03:57 2015 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/Xiaofei/code/Mode/#a04e71ccab93 +https://developer.mbed.org/users/Xiaofei/code/Mode/#4a3f8d0385bf
--- a/Xbee.lib Sat Nov 28 19:48:30 2015 +0000 +++ b/Xbee.lib Sun Nov 29 00:03:57 2015 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/users/Xiaofei/code/Xbee/#70e9e5e5f9d5 +https://developer.mbed.org/users/Xiaofei/code/Xbee/#71afcfdbea4d
--- a/main.cpp Sat Nov 28 19:48:30 2015 +0000
+++ b/main.cpp Sun Nov 29 00:03:57 2015 +0000
@@ -1,36 +1,36 @@
// Controller code
#pragma once
-#include "mbed.h"
+#include "mbed.h"
#include "CommandPool.h"
#include "Xbee.h"
#include "GenCMD.h"
#include "PinDetect.h"
#include "Mode.h"
-GenCMD gen_cmd;
-Xbee xbee(p9,p10,p11);
-DigitalOut led(LED1);
-Mode mode;
-char cmd_buffer = '\0';
+GenCMD gen_cmd; // Command Generator
+Xbee xbee(p9,p10,p11); // Xbee
+DigitalOut led(LED1); // LED
+Mode mode; // Mode
+char cmd_buffer = '\0'; // Command Buffer
Serial pc(USBTX,USBRX);
int main()
-{
- gen_cmd.init();
- xbee.Reset();
+{
+ gen_cmd.init(); // Init Command Generator
+ xbee.Reset(); // Reset Xbee
while(1)
{
- if(mode.on)
+ if(mode.on) // If mode on
{
- gen_cmd.GenerateCMD(cmd_buffer);
- xbee.Send(cmd_buffer);
+ gen_cmd.GenerateCMD(cmd_buffer); // Generate command based on IMU value
+ xbee.Send(cmd_buffer); // Send Command
led = !led;
}
else
{
- xbee.Send(STOP);
+ xbee.Send(STOP); // If mode off, Send STOP Command
}
wait(0.01);
@@ -43,29 +43,25 @@
#include "mbed.h"
#include "CommandPool.h"
#include "Xbee.h"
-#include "GenCMD.h"
-Command* cmd;
-CommandPool pool;
-GenCMD gen_cmd;
-Xbee xbee(p9,p10,p11);
-DigitalOut led(LED1);
-
-char cmd_buffer='\0';
+Command* cmd; // Command Object
+CommandPool pool; // Command Pool
+Xbee xbee(p9,p10,p11); // Xbee
+DigitalOut led(LED1); // LED
+char cmd_buffer='\0'; // Command Buffer
int main()
{
- pool.init();
- xbee.Reset();
+ pool.init(); // Init Command Poll
+ xbee.Reset(); // Reset Xbee
while(1)
{
- xbee.Recv(cmd_buffer);
- pc.printf("%i\n",cmd_buffer);
- cmd = pool.getCommand(cmd_buffer);
- if(cmd)
+ xbee.Recv(cmd_buffer); // Receive command from IMU controller
+ cmd = pool.getCommand(cmd_buffer); // Get command object from command pool
+ if(cmd) // If valid
{
- cmd->execute();
+ cmd->execute(); // Execute command
}
led = !led;
wait(0.01);