Kevin Abraham / Mbed OS MobileArcade

Platform controller for the Mobile Arcade project

Dependencies:   APA102 Motor

main.cpp@0:d4e7f9c1287f, 2018-11-30 (annotated)

Committer:
abraha2d
Date:
Fri Nov 30 20:15:39 2018 +0000
Revision:
0:d4e7f9c1287f
Child:
1:113469a23547
Initial code for motor control and BT interface

Who changed what in which revision?

UserRevisionLine numberNew contents of line
abraha2d 0:d4e7f9c1287f 1 #include "mbed.h"
abraha2d 0:d4e7f9c1287f 2 #include "Motor.h"
abraha2d 0:d4e7f9c1287f 3
abraha2d 0:d4e7f9c1287f 4 DigitalOut led1(LED1);
abraha2d 0:d4e7f9c1287f 5
abraha2d 0:d4e7f9c1287f 6 // TB6612 mbed
abraha2d 0:d4e7f9c1287f 7 // PWMA 21
abraha2d 0:d4e7f9c1287f 8 // AI2 22
abraha2d 0:d4e7f9c1287f 9 // AI1 23
abraha2d 0:d4e7f9c1287f 10 // BI1 24
abraha2d 0:d4e7f9c1287f 11 // BI2 25
abraha2d 0:d4e7f9c1287f 12 // PWMB 26
abraha2d 0:d4e7f9c1287f 13
abraha2d 0:d4e7f9c1287f 14 Motor l_motor(p21, p23, p22); // PWMA, AI1, AI2
abraha2d 0:d4e7f9c1287f 15 Motor r_motor(p26, p24, p25); // PWMB, BI1, BI2
abraha2d 0:d4e7f9c1287f 16
abraha2d 0:d4e7f9c1287f 17 Serial bt(p28, p27); // Bluefruit RX, TX
abraha2d 0:d4e7f9c1287f 18 Thread btThread;
abraha2d 0:d4e7f9c1287f 19
abraha2d 0:d4e7f9c1287f 20 void bt_thread()
abraha2d 0:d4e7f9c1287f 21 {
abraha2d 0:d4e7f9c1287f 22 char bnum = 0;
abraha2d 0:d4e7f9c1287f 23 char bhit = 0;
abraha2d 0:d4e7f9c1287f 24 while(1) {
abraha2d 0:d4e7f9c1287f 25 while (!bt.readable()) wait(0.01);
abraha2d 0:d4e7f9c1287f 26 if (bt.getc() == '!' && bt.getc() == 'B') {
abraha2d 0:d4e7f9c1287f 27 bnum = bt.getc(); // button number
abraha2d 0:d4e7f9c1287f 28 bhit = bt.getc(); // 1 = hit, 0 = release
abraha2d 0:d4e7f9c1287f 29 if (bt.getc() == char(~('!' + 'B' + bnum + bhit))) {
abraha2d 0:d4e7f9c1287f 30 switch (bnum) {
abraha2d 0:d4e7f9c1287f 31 case '1': // number button 1
abraha2d 0:d4e7f9c1287f 32 l_motor.speed(bhit == '1' ? 1.0f : 0);
abraha2d 0:d4e7f9c1287f 33 break;
abraha2d 0:d4e7f9c1287f 34 case '2': // number button 2
abraha2d 0:d4e7f9c1287f 35 r_motor.speed(bhit == '1' ? 1.0f : 0);
abraha2d 0:d4e7f9c1287f 36 break;
abraha2d 0:d4e7f9c1287f 37 case '3': // number button 3
abraha2d 0:d4e7f9c1287f 38 l_motor.speed(bhit == '1' ? -1.0f : 0);
abraha2d 0:d4e7f9c1287f 39 break;
abraha2d 0:d4e7f9c1287f 40 case '4': // number button 4
abraha2d 0:d4e7f9c1287f 41 r_motor.speed(bhit == '1' ? -1.0f : 0);
abraha2d 0:d4e7f9c1287f 42 break;
abraha2d 0:d4e7f9c1287f 43 default:
abraha2d 0:d4e7f9c1287f 44 break;
abraha2d 0:d4e7f9c1287f 45 }
abraha2d 0:d4e7f9c1287f 46 }
abraha2d 0:d4e7f9c1287f 47 }
abraha2d 0:d4e7f9c1287f 48 }
abraha2d 0:d4e7f9c1287f 49 }
abraha2d 0:d4e7f9c1287f 50
abraha2d 0:d4e7f9c1287f 51 // main() runs in its own thread in the OS
abraha2d 0:d4e7f9c1287f 52 int main()
abraha2d 0:d4e7f9c1287f 53 {
abraha2d 0:d4e7f9c1287f 54 btThread.start(bt_thread);
abraha2d 0:d4e7f9c1287f 55 while (true) {
abraha2d 0:d4e7f9c1287f 56 // Blink LED and wait 0.5 seconds
abraha2d 0:d4e7f9c1287f 57 led1 = !led1;
abraha2d 0:d4e7f9c1287f 58 wait(0.5);
abraha2d 0:d4e7f9c1287f 59 }
abraha2d 0:d4e7f9c1287f 60 }