Diff: main.cpp

Revision:

1:4e0e4d0363d9

Parent:

0:5d4d21d56334

Child:

2:4ba1937ce284

--- a/main.cpp	Fri Mar 12 13:04:33 2021 +0000
+++ b/main.cpp	Fri Mar 12 15:50:14 2021 +0000
@@ -1,119 +1,59 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2019 ARM Limited
- * SPDX-License-Identifier: Apache-2.0
- */
-
 #include "mbed.h"
 #include "platform/mbed_thread.h"
-#include "SDBlockDevice.h"
-#include "FATFileSystem.h"
-#include "EncoderCounter.h"
-#include "Servo.h"
-#include "Controller.h"
+
+#define   pi 3.14159265358979323846 
+
+InterruptIn  user_button(USER_BUTTON);
+DigitalOut   led(LED1);
+Serial       pc(SERIAL_TX, SERIAL_RX);
 
+bool         executeMainTask = false;
+Timer        user_button_timer, loop_timer;
+int          Ts_ms = 50;
 
-// Blinking rate in milliseconds
-#define BLINKING_RATE_MS                                                    500
+void         button_fall();
+void         button_rise();
 
+AnalogIn     analogIn(PA_0);
+float dist = 0.0f;
 
 int main()
 {
-    
-    DigitalIn user_button(USER_BUTTON);
-    
-    // initialise PWM
-    PwmOut pwm_motor1(PB_13);
-    PwmOut pwm_motor2(PA_9);
-    PwmOut pwm_motor3(PA_10);
-    
-    // crete Encoder read objects
-    EncoderCounter counter1(PA_6, PC_7); // counter(pin A, pin B)
-    EncoderCounter counter2(PB_6, PB_7);
-    EncoderCounter counter3(PA_0, PA_1);
-    
-    // create controller
-    Controller controller(pwm_motor1, pwm_motor2, counter1, counter1);
-    
-    DigitalOut enable(PB_15);
-    
-    // create servo objects
-    Servo  S0(PB_2);
-    Servo  S1(PC_8);
-    Servo  S2(PC_6);
-    
-    SDBlockDevice sd(PC_12, PC_11, PC_10, PD_2);
-    printf("BlockDevice created\r\n"); 
-    FATFileSystem fs("fs", &sd);
-    
-    // Initialise the digital pin LED1 as an output
-    DigitalOut myled(LED1);
-    
-    
-    
-    // initialise PWM
-    pwm_motor1.period(0.00005f);// 0.05ms 20KHz
-    pwm_motor1.write(0.5f);
-    pwm_motor2.period(0.00005f);// 0.05ms 20KHz
-    pwm_motor2.write(0.5f);
-    pwm_motor3.period(0.00005f);// 0.05ms 20KHz
-    pwm_motor3.write(0.5f);
-    
-    // initialise and test Servo
-    S0.Enable(1000,20000);
-    S1.Enable(1000,20000);
-    S2.Enable(1000,20000);
-    
-    printf("Test writing... ");
-    FILE* fp = fopen("/fs/data.csv", "w");
-    fprintf(fp, "test %.5f\r\n",1.23);
-    fclose(fp);
-    printf("done\r\n");
-    
-    printf("Test reading... ");
-    // read from SD card
-    fp = fopen("/fs/data.csv", "r");
-    if (fp != NULL) {
-        char c = fgetc(fp);
-        if (c == 't')
-            printf("done\r\n");
-        else
-            printf("incorrect char (%c)!\n", c);
-        fclose(fp);
-    } else {
-        printf("Reading failed!\n");
-    }
-    
-    // enable driver DC motors
-    enable = 1;
+    pc.baud(115200);
+    user_button.fall(&button_fall);
+    user_button.rise(&button_rise);
+    loop_timer.reset();
 
     while (true) {
-        
-        if(!user_button) {
-            // LED off, set controller speed, pwm2, position servo
-            myled = 0;
-            controller.setDesiredSpeedLeft(50.0f);
-            controller.setDesiredSpeedRight(50.0f);
-            pwm_motor3.write(0.9f);
+
+        /* ------------- start hacking ------------- -------------*/
 
-            S0.SetPosition(1200);
-            S1.SetPosition(1200);
-            S2.SetPosition(1200);
-
+        if(executeMainTask) {
+            dist = analogIn.read()*3.3f;
+            printf("measurement: %9.6f\r\n", dist);
         } else {
-            // LED on, reset controller speed, pwm2, position servo
-            myled = 1;
-            controller.setDesiredSpeedLeft(0.0f);
-            controller.setDesiredSpeedRight(0.0f);
-            pwm_motor3.write(0.5f);
-
-            S0.SetPosition(1900);
-            S1.SetPosition(1900);
-            S2.SetPosition(1900);
 
         }
-        
-        printf("counter1 = %d counter2 = %d counter3 = %d\r\n",counter1.read(), counter2.read(), counter3.read());
-        
-        thread_sleep_for(BLINKING_RATE_MS);
+
+        /* ------------- stop hacking ------------- -------------*/
+
+        if(executeMainTask) {
+            led = !led;
+        }
+        int dT_loop = Ts_ms - loop_timer.read_ms();
+        thread_sleep_for(dT_loop);
     }
 }
+
+void button_fall()
+{
+    user_button_timer.reset();
+    user_button_timer.start();
+}
+
+void button_rise()
+{
+    int t_button = user_button_timer.read_ms();
+    user_button_timer.stop();
+    if(t_button > 200) executeMainTask = !executeMainTask;
+}
\ No newline at end of file