Diff: main.cpp

Revision:

0:d4e7f9c1287f

Child:

1:113469a23547

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Nov 30 20:15:39 2018 +0000
@@ -0,0 +1,60 @@
+#include "mbed.h"
+#include "Motor.h"
+
+DigitalOut led1(LED1);
+
+// TB6612   mbed
+// PWMA     21
+// AI2      22
+// AI1      23
+// BI1      24
+// BI2      25
+// PWMB     26
+
+Motor l_motor(p21, p23, p22);   // PWMA, AI1, AI2
+Motor r_motor(p26, p24, p25);   // PWMB, BI1, BI2
+
+Serial bt(p28, p27);     // Bluefruit RX, TX
+Thread btThread;
+
+void bt_thread()
+{
+    char bnum = 0;
+    char bhit = 0;
+    while(1) {
+        while (!bt.readable()) wait(0.01);
+        if (bt.getc() == '!' && bt.getc() == 'B') {
+            bnum = bt.getc(); // button number
+            bhit = bt.getc(); // 1 = hit, 0 = release
+            if (bt.getc() == char(~('!' + 'B' + bnum + bhit))) {
+                switch (bnum) {
+                    case '1': // number button 1
+                        l_motor.speed(bhit == '1' ? 1.0f : 0);
+                        break;
+                    case '2': // number button 2
+                        r_motor.speed(bhit == '1' ? 1.0f : 0);
+                        break;
+                    case '3': // number button 3
+                        l_motor.speed(bhit == '1' ? -1.0f : 0);
+                        break;
+                    case '4': // number button 4
+                        r_motor.speed(bhit == '1' ? -1.0f : 0);
+                        break;
+                    default:
+                        break;
+                }
+            }
+        }
+    }
+}
+
+// main() runs in its own thread in the OS
+int main()
+{
+    btThread.start(bt_thread);
+    while (true) {
+        // Blink LED and wait 0.5 seconds
+        led1 = !led1;
+        wait(0.5);
+    }
+}