Alexander Schwartz / Mbed 2 deprecated 4180_final_project_robot_motors

Code for mbed on robot that polls DigitalIn pins to control robot movement via 2 DC motors

Dependencies:   mbed Motor

main.cpp

Committer:
aschwartz44
Date:
2019-12-06
Revision:
0:1dadb580b75f

File content as of revision 0:1dadb580b75f:

#include "mbed.h"
#include "Motor.h"

Motor leftWheel(p23, p16, p15); //pwm, fwd(Digital), rev(Digital)
Motor rightWheel(p24, p18, p17); //pwm, fwd(Digital), rev(Digital)
DigitalIn fwd(p5);
DigitalIn rev(p6);
DigitalIn turnL(p7);
DigitalIn turnR(p8);

DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);


void moveForward(float time)
{
    leftWheel.speed(0.6);
    rightWheel.speed(0.6);
    wait(time);
    leftWheel.speed(0.0);
    rightWheel.speed(0.0);
}

void moveBackward(float time)
{
    leftWheel.speed(-0.6);
    rightWheel.speed(-0.6);
    wait(time);
    leftWheel.speed(0.0);
    rightWheel.speed(0.0);
}

void turnLeft(float time)
{
    leftWheel.speed(-0.6);
    rightWheel.speed(0.6);
    wait(time);
    leftWheel.speed(0.0);
    rightWheel.speed(0.0);
}

void turnRight(float time)
{
    leftWheel.speed(0.6);
    rightWheel.speed(-0.6);
    wait(time);
    leftWheel.speed(0.0);
    rightWheel.speed(0.0);
}

int main()
{
    led1 = 0;
    led2 = 0;
    led3 = 0;
    led4 = 0;
    leftWheel.speed(0.0);
    rightWheel.speed(0.0);
    
    while (1)
    {
        if (fwd)
        {
            led2 = 1;
            led3 = 1;
            moveForward(0.2);
            led2 = 0;
            led3 = 0;
        }
        if (rev)
        {
            led1 = 1;
            led4 = 1;
            moveBackward(0.2);
            led1 = 0;
            led4 = 0;
        }
        if (turnL)
        {
            led1 = 1;
            led2 = 1;
            turnLeft(0.2);
            led1 = 0;
            led2 = 0;
        }
        if (turnR)
        {
            led3 = 1;
            led4 = 1;
            turnRight(0.2);
            led3 = 0;
            led4 = 0;
        }
    }
}