Diff: main.cpp

Revision:

70:b4f1647683ff

Parent:

29:0b58d21e87d6

--- a/main.cpp	Fri Jun 15 11:00:02 2018 +0100
+++ b/main.cpp	Tue Jun 19 12:25:02 2018 +0000
@@ -1,12 +1,154 @@
 #include "mbed.h"
 
-DigitalOut led1(LED1);
+#include "LED.h"        //LED灯头文件
+#include "ReceiverIR.h" //红外接收头文件
+#include "motodriver.h" //电机控制头文件
+#include "HCSR04.h"     //超声波模块的头文件
+
+// 声明变量
+int     bitcount, decoded;
+char    sr04_alart;
+int     encoder_countA=0;
+
+// 声明IO口
+LED        user_led(PA_5);     //LED的IO口
+Serial     pc(PA_2,PA_3);      //串口的IO口
+ReceiverIR ir_rx(PB_12);       //红外接收管的IO口,可以是普通的IO口
+Motor      motor1(PA_8,PA_9);  //电机控制的IO口,需要具备PWM功能的IO口
+Motor      motor2(PA_11,PA_10);//电机控制的IO口,需要具备PWM功能的IO口
+HCSR04     sr04(PC_0, PC_1);   //超声波测距模块的IO口,可以是普通的IO口
+
+InterruptIn encoderA(PB_14);
+DigitalIn   encoderB(PB_13);
+
+// 声明线程
+Thread thread_ir;
+Thread thread_sr04;
+
+// Timer
+Timer sr04_timer;
+
+// 声明线程实现函数
+void ir_thread();
+void sr04_thread();
+
+void encoderA_counter(void)
+{
+    if (encoderB == 1)
+    {
+        encoder_countA+=1;
+    }
+    else
+    {
+        encoder_countA-=1;
+    }
+}
+    
+void encoderA_reset(void)
+{
+    encoder_countA=0;
+    }
 
 // main() runs in its own thread in the OS
-int main() {
-    while (true) {
-        led1 = !led1;
-        wait(0.5);
+int main() 
+{
+    // 设置串口波特率为115200
+    pc.baud(115200);
+    pc.printf("\r\n*** RTOS Robot Hello World! ***\n\r");
+    
+    encoderA.fall(&encoderA_counter);          //interrupt A rise-trig
+    
+    // 启动线程
+    thread_ir.start(ir_thread);
+    thread_sr04.start(sr04_thread);
+    
+    while (true) 
+    {
+        user_led.LED_Troggle();
+        pc.printf("\r\n encoderA: %d", encoder_countA);
+        
+        if (sr04_alart == 1)
+        {
+            motor1.Stop();
+            motor2.Stop();
+        }
+        else
+        {
+            if (decoded == 0xb9)
+            {
+                motor1.Speed(0.5);
+                motor2.Speed(0.5);
+            }
+            else if (decoded == 0xbf)
+            {
+                motor1.Stop();
+                motor2.Stop();
+            }
+            else if (decoded == 0xea)
+            {
+                motor1.Speed(-0.5);
+                motor2.Speed(-0.5);
+            }
+            else if (decoded == 0xbb)
+            {
+                motor1.Speed(-0.5);
+                motor2.Speed(0.5);
+            }
+            else if (decoded == 0xbc)
+            {
+                motor1.Speed(0.5);
+                motor2.Speed(-0.5);
+            } 
+        }
+        wait(0.1);
     }
 }
 
+/*****************************************************************/
+void ir_thread()
+{
+    // 和红外接收有关的变量
+    RemoteIR::Format format;
+    uint8_t buf[32];
+    //double  DC=0.5;
+    
+    while(true)
+    {
+        if (ir_rx.getState() == ReceiverIR::Received) 
+        {
+            bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8);
+            if (bitcount>0) 
+            {
+                decoded=buf[3];
+                pc.printf("\r\nDecoded: %x ", buf[3]);
+            }
+            pc.printf(".");
+        } 
+    }
+}
+
+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\nDistance: %5.1f mm", sr04.getDistance_mm());
+        sr04_timer.stop();
+        
+        if (sr04.getDistance_mm() < 400.0)
+        {
+            sr04_alart = 1;
+        }
+        else
+        {
+            sr04_alart = 0;
+        }
+        Thread::wait(200 - sr04_timer.read_ms()); // time the loop
+    }
+}
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