Diff: main.cpp

Revision:

72:522b60fd1a99

Parent:

29:0b58d21e87d6

--- a/main.cpp	Tue Jun 19 13:00:02 2018 +0100
+++ b/main.cpp	Tue Jun 19 14:32:54 2018 +0000
@@ -1,12 +1,134 @@
 #include "mbed.h"
+#include "rtos.h"
+
+#include "LED.h"        //LED控制的头文件
+#include "ReceiverIR.h" //红外接收的头文件
+#include "HCSR04.h"     //超声波模块的头文件
+#include "motodriver.h"
+#include "encoder.h"
+
+// 变量
+int     ir_bitcount, ir_decoded;
 
-DigitalOut led1(LED1);
+// IO口定义声明
+LED           user_led(PA_5);
+Serial        pc(PA_2,PA_3);
+ReceiverIR    ir_rx(PB_12);        // 声明一个红外接接口,这里用PB12,这里可以使用一个通用的IO口就可以,不需要专门的IO口
+HCSR04        sr04(PC_0, PC_1);    // 声明两个IO口连接SR04模块,PC_0->ECHO PC1->TRIG
+Motor         motor1(PA_8,PA_9);   // 声明两个IO口连接电机1驱动模块,必须具有PWM功能的IO
+Motor         motor2(PA_11,PA_10); // 声明两个IO口连接电机2驱动模块,必须具有PWM功能的IO
+Encoder       encoder1(PB_14,PB_13,true);
+
+// Thread 线程
+Thread thread_led;
+Thread thread_ir;
+Thread thread_sr04;
+
+// Timer
+Timer sr04_timer;
+
+// 线程实现函数
+void led_thread();
+void ir_thread();
+void sr04_thread();
 
 // main() runs in its own thread in the OS
-int main() {
-    while (true) {
-        led1 = !led1;
-        wait(0.5);
+int main() 
+{
+    // 初始化
+    user_led.LED_Off();
+    
+    pc.baud(115200);
+    pc.printf("\r\n*** Nucleo_F411RE_OS_Robot ***");
+    pc.printf("\r\n***      Hello World!      ***");
+    
+    // 延时一下
+    wait(1.0);
+    
+    // 启动线程
+    thread_led.start(led_thread);
+    thread_ir.start(ir_thread);
+    thread_sr04.start(sr04_thread);
+    
+    while (true) 
+    {
+        //pc.printf("pos: %d, speed %f \r\n",encoder1.getPosition(), encoder1.getSpeed());
+        switch(ir_decoded)
+        {
+            case 0xb9://forward
+                motor1.Speed(0.5);
+                motor2.Speed(0.5);
+                break;
+            case 0xbf://stop
+                motor1.Stop();
+                motor2.Stop();
+                break;
+            case 0xea://backward
+                motor1.Speed(-0.5);
+                motor2.Speed(-0.5);
+                break;
+            case 0xbb://turn_left
+                motor1.Speed(-0.5);
+                motor2.Speed(0.5);
+                break;
+            case 0xbc://turn_right
+                motor1.Speed(0.5);
+                motor2.Speed(-0.5);
+                break;
+            default:
+            break;
+        }
+        Thread::wait(1);
     }
 }
 
+/*************************************************/
+// LED线程 1秒钟闪烁一次
+void led_thread() 
+{
+    while(true)
+    {
+        Thread::wait(1000);
+        user_led.LED_Troggle();
+    }
+}
+
+// 红外接收线程
+void ir_thread()
+{
+    // 和红外接收有关的变量
+    RemoteIR::Format format;
+    uint8_t buf[32];
+    
+    while(true)
+    {
+        if (ir_rx.getState() == ReceiverIR::Received) 
+        {
+            ir_bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8);
+            if (ir_bitcount>0) 
+            {
+                ir_decoded=buf[3];
+                pc.printf("\r\n ir_receive_code: %x",ir_decoded);
+            }
+            pc.printf(".");
+        } 
+    }
+}
+
+// SR04超声波测距模块线程
+void sr04_thread()
+{
+    while(true)
+    {
+        sr04_timer.reset();
+        sr04_timer.start();
+        sr04.startMeasurement();
+        while(!sr04.isNewDataReady()) {
+          // wait for new data
+          // waiting time depends on the distance
+        }
+        //pc.printf("\r\n Distance: %5.1f mm", sr04.getDistance_mm());
+        sr04_timer.stop();
+        Thread::wait(500 - sr04_timer.read_ms()); // time the loop
+    }
+}
\ No newline at end of file