Alex Lipford
/
Robotic_Construction_Vehicle
Robotic Construction Vehicle
main.cpp
- Committer:
- alipford3
- Date:
- 2014-12-10
- Revision:
- 0:8aab3120e540
File content as of revision 0:8aab3120e540:
#include "mbed.h" //ZigBee Serial xbee(p28, p27); DigitalOut rst(p29); int myData; //Left Motors DigitalOut enLeft(p7); DigitalOut ctrlLeft(p11); PwmOut pwrLeft(p23); //Right Motors DigitalOut enRight(p8); DigitalOut ctrlRight(p12); PwmOut pwrRight(p24); //Arm Motors DigitalOut enArm(p5); DigitalOut ctrlArm(p9); PwmOut pwrArm(p21); //Bucket Motors DigitalOut enBucket(p6); DigitalOut ctrlBucket(p10); PwmOut pwrBucket(p22); DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4); int stop = 0; int main() { // ZigBee Init xbee.baud(19200); rst = 0; wait_ms(1); rst = 1; wait_ms(1); //Motor Enables enLeft = 0; enRight = 0; enArm = 0; enBucket = 0; //Motor PWMs pwrLeft = 0.9; pwrRight = 0.9; pwrArm = 0.9; pwrBucket = 0.4; while(1) { myData = xbee.getc(); // Move Forward if(myData == '0'){ myled1 = 1; stop = 0; while(stop != 1) { //Left Motors enLeft = 1; ctrlLeft = 1; //Right Motors enRight = 1; ctrlRight = 1; wait(1.5); stop = 1; } enLeft = 0; enRight = 0; myled1 = 0; } // Move Backward else if(myData == '1'){ stop = 0; while(stop != 1) { //Left Motors enLeft = 1; ctrlLeft = 0; //Right Motors enRight = 1; ctrlRight = 0; wait(1.5); stop = 1; } enLeft = 0; enRight = 0; } //Turn Left else if(myData == '2') { stop = 0; while(stop != 1) { //Left Motors enLeft = 1; ctrlLeft = 0; //Right Motors enRight = 1; ctrlRight = 1; wait(1.5); stop = 1; } enLeft = 0; enRight = 0; } //Turn Right else if(myData == '3') { stop = 0; while(stop != 1) { //Left Motors enLeft = 1; ctrlLeft = 1; //Right Motors enRight = 1; ctrlRight = 0; wait(1.5); stop = 1; } enLeft = 0; enRight = 0; } //Arm Up else if(myData == '4') { stop = 0; while(stop != 1) { enArm = 1; ctrlArm = 1; wait(1); stop = 1; } enArm = 0; } //Arm Down else if(myData == '5') { stop = 0; while(stop != 1) { enArm = 1; ctrlArm = 0; wait(1); stop = 1; } enArm = 0; } //Bucket Out else if(myData == '6') { stop = 0; while(stop != 1) { enBucket = 1; ctrlBucket = 1; wait(0.5); stop = 1; } enBucket = 0; } //Bucket In else if(myData == '7') { stop = 0; while(stop != 1) { enBucket = 1; ctrlBucket = 0; wait(0.5); stop = 1; } enBucket = 0; } } }