Diff: main.cpp

Revision:

0:8aab3120e540

diff -r 000000000000 -r 8aab3120e540 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 10 03:50:14 2014 +0000
@@ -0,0 +1,177 @@
+#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;
+        }
+    }
+}