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Code
Dependencies: mbed QEI MPU6050 TextLCD
main.cpp@4:b084af72f9a6, 2017-03-22 (annotated)
- Committer:
- belsarekaiwalya
- Date:
- Wed Mar 22 07:15:20 2017 +0000
- Revision:
- 4:b084af72f9a6
- Parent:
- 3:86145fd89b45
- Child:
- 5:84e63108a1b6
Includes motor Run function.;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
belsarekaiwalya | 0:c9c8c027609e | 1 | #include "mbed.h" |
belsarekaiwalya | 0:c9c8c027609e | 2 | #include "TextLCD.h" |
belsarekaiwalya | 0:c9c8c027609e | 3 | TextLCD lcd(PA_0,PA_1,PA_4,PB_0,PC_1,PC_0); // rs, e, d4-d7 |
belsarekaiwalya | 3:86145fd89b45 | 4 | Serial serial(USBTX, USBRX); |
belsarekaiwalya | 3:86145fd89b45 | 5 | Serial bt(PC_6,PC_7);//tx,rx |
belsarekaiwalya | 1:59c416ccba42 | 6 | DigitalOut dirRa(PB_3); |
belsarekaiwalya | 1:59c416ccba42 | 7 | DigitalOut dirRb(PB_5); |
belsarekaiwalya | 1:59c416ccba42 | 8 | DigitalOut dirLa(PB_4); |
belsarekaiwalya | 1:59c416ccba42 | 9 | DigitalOut dirLb(PB_10); |
belsarekaiwalya | 1:59c416ccba42 | 10 | PwmOut pwmL(PA_8);//left |
belsarekaiwalya | 1:59c416ccba42 | 11 | PwmOut pwmR(PA_9);//right |
belsarekaiwalya | 0:c9c8c027609e | 12 | |
belsarekaiwalya | 3:86145fd89b45 | 13 | void InitSerial(); |
belsarekaiwalya | 4:b084af72f9a6 | 14 | void runMotor(char mot, bool dir, float pwm); |
belsarekaiwalya | 3:86145fd89b45 | 15 | void front(float xpwmL,float xpwmR); |
belsarekaiwalya | 3:86145fd89b45 | 16 | void back(float xpwm,float xpwmR); |
belsarekaiwalya | 3:86145fd89b45 | 17 | void left(float xpwm, float xpwmR); |
belsarekaiwalya | 3:86145fd89b45 | 18 | void right(float xpwm,float xpwmR); |
belsarekaiwalya | 3:86145fd89b45 | 19 | void clockWise(float xpwm,float xpwmR); |
belsarekaiwalya | 3:86145fd89b45 | 20 | void antiClock(float xpwm,float xpwmR); |
belsarekaiwalya | 3:86145fd89b45 | 21 | void Brake(); |
belsarekaiwalya | 0:c9c8c027609e | 22 | |
belsarekaiwalya | 3:86145fd89b45 | 23 | int ch; |
belsarekaiwalya | 3:86145fd89b45 | 24 | |
belsarekaiwalya | 3:86145fd89b45 | 25 | void InitSerial() |
belsarekaiwalya | 0:c9c8c027609e | 26 | { |
belsarekaiwalya | 0:c9c8c027609e | 27 | bt.baud(9600); |
belsarekaiwalya | 0:c9c8c027609e | 28 | serial.baud(9600); |
belsarekaiwalya | 3:86145fd89b45 | 29 | } |
belsarekaiwalya | 3:86145fd89b45 | 30 | void SetPwmf_kHz(float freq) |
belsarekaiwalya | 3:86145fd89b45 | 31 | { |
belsarekaiwalya | 3:86145fd89b45 | 32 | |
belsarekaiwalya | 3:86145fd89b45 | 33 | pwmL.period_ms(freq); |
belsarekaiwalya | 3:86145fd89b45 | 34 | pwmR.period_ms(freq); |
belsarekaiwalya | 3:86145fd89b45 | 35 | |
belsarekaiwalya | 3:86145fd89b45 | 36 | } |
belsarekaiwalya | 3:86145fd89b45 | 37 | int main() |
belsarekaiwalya | 3:86145fd89b45 | 38 | { |
belsarekaiwalya | 3:86145fd89b45 | 39 | InitSerial(); |
belsarekaiwalya | 3:86145fd89b45 | 40 | SetPwmf_kHz(1); |
belsarekaiwalya | 3:86145fd89b45 | 41 | Brake(); |
belsarekaiwalya | 0:c9c8c027609e | 42 | while(1) |
belsarekaiwalya | 0:c9c8c027609e | 43 | { |
belsarekaiwalya | 0:c9c8c027609e | 44 | if(bt.readable()) |
belsarekaiwalya | 0:c9c8c027609e | 45 | { |
belsarekaiwalya | 0:c9c8c027609e | 46 | ch = bt.getc(); |
belsarekaiwalya | 0:c9c8c027609e | 47 | lcd.cls(); |
belsarekaiwalya | 0:c9c8c027609e | 48 | switch(ch) |
belsarekaiwalya | 0:c9c8c027609e | 49 | { |
belsarekaiwalya | 1:59c416ccba42 | 50 | case 'w'://Front |
belsarekaiwalya | 4:b084af72f9a6 | 51 | runMotor('L', 1, 0.5); |
belsarekaiwalya | 4:b084af72f9a6 | 52 | runMotor('R', 1, 0.5); |
belsarekaiwalya | 3:86145fd89b45 | 53 | serial.printf("Forward\n"); |
belsarekaiwalya | 3:86145fd89b45 | 54 | lcd.cls(); |
belsarekaiwalya | 3:86145fd89b45 | 55 | lcd.locate(1,0); |
belsarekaiwalya | 3:86145fd89b45 | 56 | lcd.printf("Forward\n"); |
belsarekaiwalya | 3:86145fd89b45 | 57 | break; |
belsarekaiwalya | 3:86145fd89b45 | 58 | |
belsarekaiwalya | 1:59c416ccba42 | 59 | case 'a'://Left |
belsarekaiwalya | 4:b084af72f9a6 | 60 | runMotor('L', 1, 0); |
belsarekaiwalya | 4:b084af72f9a6 | 61 | runMotor('R', 1, 0.5); |
belsarekaiwalya | 3:86145fd89b45 | 62 | serial.printf("Left\n"); |
belsarekaiwalya | 3:86145fd89b45 | 63 | lcd.cls(); |
belsarekaiwalya | 3:86145fd89b45 | 64 | lcd.locate(1,0); |
belsarekaiwalya | 3:86145fd89b45 | 65 | lcd.printf("Left\n"); |
belsarekaiwalya | 3:86145fd89b45 | 66 | break; |
belsarekaiwalya | 3:86145fd89b45 | 67 | |
belsarekaiwalya | 1:59c416ccba42 | 68 | case 's'://Back |
belsarekaiwalya | 4:b084af72f9a6 | 69 | runMotor('L', 0, 0.5); |
belsarekaiwalya | 4:b084af72f9a6 | 70 | runMotor('R', 0, 0.5); |
belsarekaiwalya | 3:86145fd89b45 | 71 | serial.printf("Back\n"); |
belsarekaiwalya | 3:86145fd89b45 | 72 | lcd.cls(); |
belsarekaiwalya | 3:86145fd89b45 | 73 | lcd.locate(1,0); |
belsarekaiwalya | 3:86145fd89b45 | 74 | lcd.printf("Back\n"); |
belsarekaiwalya | 3:86145fd89b45 | 75 | break; |
belsarekaiwalya | 3:86145fd89b45 | 76 | |
belsarekaiwalya | 1:59c416ccba42 | 77 | case 'd'://Right |
belsarekaiwalya | 4:b084af72f9a6 | 78 | runMotor('L', 1, 0.5); |
belsarekaiwalya | 4:b084af72f9a6 | 79 | runMotor('R', 1, 0); |
belsarekaiwalya | 3:86145fd89b45 | 80 | serial.printf("Right\n"); |
belsarekaiwalya | 3:86145fd89b45 | 81 | lcd.cls(); |
belsarekaiwalya | 3:86145fd89b45 | 82 | lcd.locate(1,0); |
belsarekaiwalya | 3:86145fd89b45 | 83 | lcd.printf("Right\n"); |
belsarekaiwalya | 3:86145fd89b45 | 84 | break; |
belsarekaiwalya | 3:86145fd89b45 | 85 | |
belsarekaiwalya | 4:b084af72f9a6 | 86 | case 'A'://Anticlock |
belsarekaiwalya | 4:b084af72f9a6 | 87 | runMotor('L', 0, 0.5); |
belsarekaiwalya | 4:b084af72f9a6 | 88 | runMotor('R', 1, 0.5); |
belsarekaiwalya | 4:b084af72f9a6 | 89 | serial.printf("AntiClock\n"); |
belsarekaiwalya | 4:b084af72f9a6 | 90 | lcd.cls(); |
belsarekaiwalya | 4:b084af72f9a6 | 91 | lcd.locate(1,0); |
belsarekaiwalya | 4:b084af72f9a6 | 92 | lcd.printf("AntiClock\n"); |
belsarekaiwalya | 4:b084af72f9a6 | 93 | break; |
belsarekaiwalya | 4:b084af72f9a6 | 94 | |
belsarekaiwalya | 4:b084af72f9a6 | 95 | case 'C'://Clock |
belsarekaiwalya | 4:b084af72f9a6 | 96 | runMotor('L', 1, 0.5); |
belsarekaiwalya | 4:b084af72f9a6 | 97 | runMotor('R', 0, 0.5); |
belsarekaiwalya | 4:b084af72f9a6 | 98 | serial.printf("Clock\n"); |
belsarekaiwalya | 4:b084af72f9a6 | 99 | lcd.cls(); |
belsarekaiwalya | 4:b084af72f9a6 | 100 | lcd.locate(1,0); |
belsarekaiwalya | 4:b084af72f9a6 | 101 | lcd.printf("Clock\n"); |
belsarekaiwalya | 4:b084af72f9a6 | 102 | break; |
belsarekaiwalya | 4:b084af72f9a6 | 103 | |
belsarekaiwalya | 1:59c416ccba42 | 104 | case 'O'://Stop |
belsarekaiwalya | 3:86145fd89b45 | 105 | Brake(); |
belsarekaiwalya | 3:86145fd89b45 | 106 | serial.printf("STOP\n"); |
belsarekaiwalya | 3:86145fd89b45 | 107 | lcd.cls(); |
belsarekaiwalya | 3:86145fd89b45 | 108 | lcd.locate(1,0); |
belsarekaiwalya | 3:86145fd89b45 | 109 | lcd.printf("STOP\n"); |
belsarekaiwalya | 3:86145fd89b45 | 110 | break; |
belsarekaiwalya | 4:b084af72f9a6 | 111 | |
belsarekaiwalya | 0:c9c8c027609e | 112 | default: |
belsarekaiwalya | 3:86145fd89b45 | 113 | Brake(); |
belsarekaiwalya | 3:86145fd89b45 | 114 | serial.printf("Brake"); |
belsarekaiwalya | 3:86145fd89b45 | 115 | lcd.cls(); |
belsarekaiwalya | 3:86145fd89b45 | 116 | lcd.locate(1,0); |
belsarekaiwalya | 3:86145fd89b45 | 117 | lcd.printf("Brake"); |
belsarekaiwalya | 3:86145fd89b45 | 118 | } |
belsarekaiwalya | 0:c9c8c027609e | 119 | } |
belsarekaiwalya | 0:c9c8c027609e | 120 | } |
belsarekaiwalya | 0:c9c8c027609e | 121 | } |
belsarekaiwalya | 4:b084af72f9a6 | 122 | void runMotor(char mot, bool dir, float pwm) |
belsarekaiwalya | 4:b084af72f9a6 | 123 | { |
belsarekaiwalya | 4:b084af72f9a6 | 124 | switch(mot) |
belsarekaiwalya | 4:b084af72f9a6 | 125 | { |
belsarekaiwalya | 4:b084af72f9a6 | 126 | case 'L': |
belsarekaiwalya | 4:b084af72f9a6 | 127 | if(dir) |
belsarekaiwalya | 4:b084af72f9a6 | 128 | { |
belsarekaiwalya | 4:b084af72f9a6 | 129 | dirLa = 1; |
belsarekaiwalya | 4:b084af72f9a6 | 130 | dirLb = 0; |
belsarekaiwalya | 4:b084af72f9a6 | 131 | } |
belsarekaiwalya | 4:b084af72f9a6 | 132 | else |
belsarekaiwalya | 4:b084af72f9a6 | 133 | { |
belsarekaiwalya | 4:b084af72f9a6 | 134 | dirLa = 0; |
belsarekaiwalya | 4:b084af72f9a6 | 135 | dirLb = 1; |
belsarekaiwalya | 4:b084af72f9a6 | 136 | } |
belsarekaiwalya | 4:b084af72f9a6 | 137 | pwmL= pwm; |
belsarekaiwalya | 4:b084af72f9a6 | 138 | break; |
belsarekaiwalya | 4:b084af72f9a6 | 139 | |
belsarekaiwalya | 4:b084af72f9a6 | 140 | case 'R': |
belsarekaiwalya | 4:b084af72f9a6 | 141 | if(dir) |
belsarekaiwalya | 4:b084af72f9a6 | 142 | { |
belsarekaiwalya | 4:b084af72f9a6 | 143 | dirRa = 1; |
belsarekaiwalya | 4:b084af72f9a6 | 144 | dirRb = 0; |
belsarekaiwalya | 4:b084af72f9a6 | 145 | } |
belsarekaiwalya | 4:b084af72f9a6 | 146 | else |
belsarekaiwalya | 4:b084af72f9a6 | 147 | { |
belsarekaiwalya | 4:b084af72f9a6 | 148 | dirRa = 0; |
belsarekaiwalya | 4:b084af72f9a6 | 149 | dirRb = 1; |
belsarekaiwalya | 4:b084af72f9a6 | 150 | } |
belsarekaiwalya | 4:b084af72f9a6 | 151 | pwmR= pwm; |
belsarekaiwalya | 4:b084af72f9a6 | 152 | break; |
belsarekaiwalya | 4:b084af72f9a6 | 153 | |
belsarekaiwalya | 4:b084af72f9a6 | 154 | default: |
belsarekaiwalya | 4:b084af72f9a6 | 155 | Brake(); |
belsarekaiwalya | 4:b084af72f9a6 | 156 | } |
belsarekaiwalya | 4:b084af72f9a6 | 157 | } |
belsarekaiwalya | 3:86145fd89b45 | 158 | void front(float xpwmL,float xpwmR) |
belsarekaiwalya | 3:86145fd89b45 | 159 | { |
belsarekaiwalya | 3:86145fd89b45 | 160 | dirLa = 1; |
belsarekaiwalya | 3:86145fd89b45 | 161 | dirLb = 0; |
belsarekaiwalya | 3:86145fd89b45 | 162 | pwmL= xpwmL; |
belsarekaiwalya | 1:59c416ccba42 | 163 | |
belsarekaiwalya | 1:59c416ccba42 | 164 | dirRa = 1; |
belsarekaiwalya | 1:59c416ccba42 | 165 | dirRb = 0; |
belsarekaiwalya | 3:86145fd89b45 | 166 | pwmR= xpwmR; |
belsarekaiwalya | 3:86145fd89b45 | 167 | } |
belsarekaiwalya | 3:86145fd89b45 | 168 | void back(float xpwmL,float xpwmR) |
belsarekaiwalya | 3:86145fd89b45 | 169 | { |
belsarekaiwalya | 3:86145fd89b45 | 170 | dirLa = 0; |
belsarekaiwalya | 3:86145fd89b45 | 171 | dirLb = 1; |
belsarekaiwalya | 3:86145fd89b45 | 172 | pwmL= xpwmL; |
belsarekaiwalya | 3:86145fd89b45 | 173 | |
belsarekaiwalya | 3:86145fd89b45 | 174 | dirRa = 0; |
belsarekaiwalya | 3:86145fd89b45 | 175 | dirRb = 1; |
belsarekaiwalya | 3:86145fd89b45 | 176 | pwmR= xpwmR; |
belsarekaiwalya | 3:86145fd89b45 | 177 | } |
belsarekaiwalya | 3:86145fd89b45 | 178 | void left(float xpwmL,float xpwmR) |
belsarekaiwalya | 3:86145fd89b45 | 179 | { |
belsarekaiwalya | 3:86145fd89b45 | 180 | dirLa = 0; |
belsarekaiwalya | 3:86145fd89b45 | 181 | dirLb = 0; |
belsarekaiwalya | 3:86145fd89b45 | 182 | pwmL= xpwmL; |
belsarekaiwalya | 3:86145fd89b45 | 183 | |
belsarekaiwalya | 3:86145fd89b45 | 184 | dirRa = 1; |
belsarekaiwalya | 3:86145fd89b45 | 185 | dirRb = 0; |
belsarekaiwalya | 3:86145fd89b45 | 186 | pwmR= xpwmR; |
belsarekaiwalya | 3:86145fd89b45 | 187 | } |
belsarekaiwalya | 3:86145fd89b45 | 188 | void right(float xpwmL,float xpwmR) |
belsarekaiwalya | 3:86145fd89b45 | 189 | { |
belsarekaiwalya | 1:59c416ccba42 | 190 | dirLa = 1; |
belsarekaiwalya | 1:59c416ccba42 | 191 | dirLb = 0; |
belsarekaiwalya | 3:86145fd89b45 | 192 | pwmL = xpwmL; |
belsarekaiwalya | 0:c9c8c027609e | 193 | |
belsarekaiwalya | 3:86145fd89b45 | 194 | dirRa = 0; |
belsarekaiwalya | 3:86145fd89b45 | 195 | dirRb = 0; |
belsarekaiwalya | 3:86145fd89b45 | 196 | pwmR = xpwmR; |
belsarekaiwalya | 0:c9c8c027609e | 197 | } |
belsarekaiwalya | 3:86145fd89b45 | 198 | void Brake() |
belsarekaiwalya | 0:c9c8c027609e | 199 | { |
belsarekaiwalya | 1:59c416ccba42 | 200 | dirLa = 0; |
belsarekaiwalya | 1:59c416ccba42 | 201 | dirLb = 0; |
belsarekaiwalya | 1:59c416ccba42 | 202 | pwmL=0.0; |
belsarekaiwalya | 4:b084af72f9a6 | 203 | |
belsarekaiwalya | 4:b084af72f9a6 | 204 | dirRa = 0; |
belsarekaiwalya | 4:b084af72f9a6 | 205 | dirRb = 0; |
belsarekaiwalya | 1:59c416ccba42 | 206 | pwmR=0.0; |
belsarekaiwalya | 0:c9c8c027609e | 207 | } |
belsarekaiwalya | 3:86145fd89b45 | 208 | void antiClock(float xpwmL,float xpwmR) |
belsarekaiwalya | 3:86145fd89b45 | 209 | { |
belsarekaiwalya | 3:86145fd89b45 | 210 | dirLa = 0; |
belsarekaiwalya | 3:86145fd89b45 | 211 | dirLb = 1; |
belsarekaiwalya | 3:86145fd89b45 | 212 | pwmL = xpwmL; |
belsarekaiwalya | 4:b084af72f9a6 | 213 | |
belsarekaiwalya | 4:b084af72f9a6 | 214 | dirRa = 1; |
belsarekaiwalya | 4:b084af72f9a6 | 215 | dirRb = 0; |
belsarekaiwalya | 3:86145fd89b45 | 216 | pwmR = xpwmR; |
belsarekaiwalya | 3:86145fd89b45 | 217 | } |
belsarekaiwalya | 3:86145fd89b45 | 218 | void clockWise(float xpwmL,float xpwmR) |
belsarekaiwalya | 0:c9c8c027609e | 219 | { |
belsarekaiwalya | 3:86145fd89b45 | 220 | dirLa = 1; |
belsarekaiwalya | 1:59c416ccba42 | 221 | dirLb = 0; |
belsarekaiwalya | 3:86145fd89b45 | 222 | pwmL = xpwmL; |
belsarekaiwalya | 4:b084af72f9a6 | 223 | |
belsarekaiwalya | 4:b084af72f9a6 | 224 | dirRa = 0; |
belsarekaiwalya | 4:b084af72f9a6 | 225 | dirRb = 1; |
belsarekaiwalya | 3:86145fd89b45 | 226 | pwmR = xpwmR; |
belsarekaiwalya | 3:86145fd89b45 | 227 | } |