Alex Lipford
Robotic Construction Vehicle
Revision 0:8aab3120e540, committed 2014-12-10
- Comitter:
- alipford3
- Date:
- Wed Dec 10 03:50:14 2014 +0000
- Commit message:
- Robotic Construction Vehicle
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
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;
+ }
+ }
+}
diff -r 000000000000 -r 8aab3120e540 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Dec 10 03:50:14 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/031413cf7a89 \ No newline at end of file