Diff: main.cpp

Revision:

0:8d15dc761944

Child:

1:ffef6386027b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Aug 16 09:46:28 2010 +0000
@@ -0,0 +1,112 @@
+/**
+ * @author Aaron Berk
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * Rover example.
+ * 
+ * Reads and executes a set of commands from a simple command script.
+ */
+
+/**
+ * Includes
+ */
+#include "Rover.h"
+
+//Debugging.
+Serial pc(USBTX, USBRX);
+
+//Globals.
+LocalFileSystem local("local");
+SDFileSystem sd(p11, p12, p13, p14, "sd");
+
+int main() {
+
+    //left motor pwm, left motor brake, left motor direction,
+    //right motor pwm, right motor brake, right motor direction,
+    //left qei A, left qei B, left qei index, left pulses per rev,
+    //right qei A, right qei B, right qei index, right pulses per rev.
+    Rover myRover(p23, p19, p28, p26, p22, p24,
+                  p29, p30, NC, 624,
+                  p18, p21, NC, 624);
+
+    //-----------------------
+    // Simple command parser
+    //-----------------------
+    char cmd0[16]; //{"move", "turn"}
+    char cmd1[16]; //{{"forward", "backward"}, {"left", "right"}}
+    int  cmd2 = 0; //{distance, angle}
+
+    pc.printf("Starting...\n");
+
+    wait(3);
+
+    FILE *fp = fopen("/local/commands.txt", "r");
+
+    if (fp == NULL) {
+        pc.printf("Opening file failed...\n");
+    } else {
+        pc.printf("Opening file succeeded!\n");
+    }
+
+    while (fscanf(fp, "%s%s%d", cmd0, cmd1, &cmd2) >= 0) {
+
+        wait(1);
+
+        pc.printf("%s %s %d\n", cmd0, cmd1, cmd2);
+
+        //move command.
+        if (strcmp(cmd0, "move") == 0) {
+            if (strcmp(cmd1, "forward") == 0) {
+                myRover.move(cmd2);
+                while (myRover.getState() != Rover::STATE_STATIONARY) {
+                }
+            } else if (strcmp(cmd1, "backward") == 0) {
+                myRover.move(-cmd2);
+                while (myRover.getState() != Rover::STATE_STATIONARY) {
+                }
+            }
+        }
+        //turn command.
+        else if (strcmp(cmd0, "turn") == 0) {
+            if (strcmp(cmd1, "left") == 0) {
+                myRover.turn(-cmd2);
+                while (myRover.getState() != Rover::STATE_STATIONARY) {
+                }
+            } else if (strcmp(cmd1, "right") == 0) {
+                myRover.turn(cmd2);
+                while (myRover.getState() != Rover::STATE_STATIONARY) {
+                }
+            }
+        }
+
+    }
+
+    wait(1);
+
+    myRover.stopLogging();
+    fclose(fp);
+
+}