main.cpp

00001 #include "mbed.h"
00002 #include "WiflyInterface.h"
00003 #include "motordriver.h" 
00004 #include "HTTPClient.h"
00005 Serial pc(USBTX, USBRX);
00006 WiflyInterface wifly(p9, p10, p25, p26, "mbed", "password", WPA);
00007 HTTPClient http;
00008  
00009 /* wifly object where:
00010 *     - p9 and p10 are for the serial communication
00011 *     - p25 is for the reset pin
00012 *     - p26 is for the connection status
00013 *     - "mbed" is the ssid of the network
00014 *     - "password" is the password
00015 *     - WPA is the security
00016 */
00017 DigitalOut f(LED1);
00018 DigitalOut b(LED2);
00019 DigitalOut l(LED3);
00020 DigitalOut r(LED4);
00021 Motor A(p22, p6, p5, 1); // pwm, fwd, rev, can brake 
00022 Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can brake
00023 int main() {
00024 wifly.init(); // use DHCP
00025 while (!wifly.connect());
00026 char buffer[2];
00027 buffer[1]='\0';
00028 char a;
00029 while(1)
00030 {
00031 
00032       http.get("http://develop.jissjohn.com/netbot/command.txt", buffer,2);
00033       
00034     printf("\n%s\n\r", buffer);
00035     a=buffer[0];
00036 if(a=='1')// Forward direction
00037     {f=1;
00038         A.speed(0.4); 
00039         B.speed(0.4); 
00040         wait(0.02);
00041     }
00042 else if(a=='5')//Reverse Direction
00043     {b=1;
00044     f=0;
00045     l=0;
00046     r=0;
00047         A.speed(-0.4);
00048         B.speed(-0.4);
00049         wait(0.02);
00050     }
00051 else if(a=='7')//Turn Left Direction
00052     { l=1;
00053     f=0;
00054     r=0;
00055     b=0;
00056        A.speed(-0.5);
00057         B.speed(0.5);
00058         wait(0.02);
00059     }
00060 else if(a=='3')//Turn Right Direction
00061     {r=1;
00062     f=0;
00063     l=0;
00064     b=0;
00065        A.speed(0.5);
00066         B.speed(-0.5);
00067         wait(0.02);
00068     }
00069 else
00070     {
00071 
00072     A.stop(1);
00073     B.stop(1);
00074 
00075    wait(1);
00076     A.coast();
00077     B.coast();
00078 
00079     }
00080 
00081 }
00082 wifly.disconnect();
00083 }
00084 
00085