File content as of revision 0:5d4d21d56334:

/* 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"


// Blinking rate in milliseconds
#define BLINKING_RATE_MS                                                    500


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;

    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);

            S0.SetPosition(1200);
            S1.SetPosition(1200);
            S2.SetPosition(1200);

        } 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);
    }
}