Kaiwalya Belsare
Code
Dependencies: mbed QEI MPU6050 TextLCD
Diff: main.cpp
- Revision:
- 1:59c416ccba42
- Parent:
- 0:c9c8c027609e
- Child:
- 2:156f4732fbf1
--- a/main.cpp Sat Mar 11 09:43:33 2017 +0000
+++ b/main.cpp Tue Mar 14 15:31:21 2017 +0000
@@ -1,11 +1,30 @@
-/*#include "mbed.h"
-DigitalOut myled(LED1);
+#include "mbed.h"
+/*DigitalOut myled(LED1);
+DigitalOut m2dir1(PB_4);
+DigitalOut m2dir2(PB_10);
+DigitalOut m1dir1(PB_3);
+DigitalOut m1dir2(PB_5);
+PwmOut pwm1(PA_8);
+PwmOut pwm2(PA_9);
int main() {
+
+ pwm1.period_ms(1);
+ pwm1 = 1;
+
+ pwm2.period_ms(1);
+ pwm2 = 1;
+
while(1)
{
- lcd.locate(1,0);
- lcd.printf("Hello\n");
+ m2dir1 = 1;
+ m2dir2 = 0;
+ m1dir1 = 1;
+ m1dir2 = 0;
+
+
+ //lcd.locate(1,0);
+ //lcd.printf("Hello\n");
//myled = 1; // LED is ON
//wait(0.2); // 200 ms
//myled = 0; // LED is OFF
@@ -17,12 +36,12 @@
#include "mbed.h"
#include "TextLCD.h"
TextLCD lcd(PA_0,PA_1,PA_4,PB_0,PC_1,PC_0); // rs, e, d4-d7
-DigitalOut m1dir1(PB_3);
-DigitalOut m1dir2(PB_5);
-DigitalOut m2dir1(PB_4);
-DigitalOut m2dir2(PB_10);
-PwmOut pwm1(PA_8);
-PwmOut pwm2(PA_9);
+DigitalOut dirRa(PB_3);
+DigitalOut dirRb(PB_5);
+DigitalOut dirLa(PB_4);
+DigitalOut dirLb(PB_10);
+PwmOut pwmL(PA_8);//left
+PwmOut pwmR(PA_9);//right
Serial bt(PC_6,PC_7);//tx,rx
PwmOut mypwm(LED1);
@@ -34,6 +53,7 @@
{
bt.baud(9600);
serial.baud(9600);
+ void brake();
while(1)
{
if(bt.readable())
@@ -42,23 +62,50 @@
lcd.cls();
switch(ch)
{
- case 'w':
+ case 'w'://Front
+ void front();
+ dirRa = 1;
+ dirRb = 0;
+ dirLa = 1;
+ dirLb = 0;
+ pwmL.period_ms(1);
+ pwmL=0.5;
+ pwmR.period_ms(1);
+ pwmR=0.5;
+
lcd.cls();
serial.printf("Forward\n");
lcd.locate(1,0);
lcd.printf("Forward\n");
- void front();
break;
- case 'a':
- lcd.cls();
- serial.printf("Left\n");
- lcd.locate(1,0);
- lcd.printf("Left\n");
- void left();
+ case 'a'://Left
+ dirRa = 1;
+ dirRb = 0;
+ dirLa = 0;
+ dirLb = 0;
+ pwmL.period_ms(1);
+ pwmL=0;
+ pwmR.period_ms(1);
+ pwmR=0.5;
+
+ lcd.cls();
+ serial.printf("Left\n");
+ lcd.locate(1,0);
+ lcd.printf("Left\n");
+ //void left();
break;
- case 's':
+ case 's'://Back
+ dirRa = 0;
+ dirRb = 1;
+ dirLa = 0;
+ dirLb = 1;
+ pwmL.period_ms(1);
+ pwmL=0.5;
+ pwmR.period_ms(1);
+ pwmR=0.5;
+
lcd.cls();
serial.printf("Back\n");
lcd.locate(1,0);
@@ -66,7 +113,16 @@
void back();
break;
- case 'd':
+ case 'd'://Right
+ dirRa = 0;
+ dirRb = 0;
+ dirLa = 1;
+ dirLb = 0;
+ pwmL.period_ms(1);
+ pwmL=0.5f;
+ pwmR.period_ms(1);
+ pwmR=0;
+
lcd.cls();
serial.printf("Right\n");
lcd.locate(1,0);
@@ -74,6 +130,59 @@
void right();
break;
+ case 'O'://Stop
+ dirRa = 1;
+ dirRb = 0;
+ dirLa = 1;
+ dirLb = 0;
+ pwmL.period_ms(1);
+ pwmL=0;
+ pwmR.period_ms(1);
+ pwmR=0;
+
+ lcd.cls();
+ serial.printf("STOP\n");
+ lcd.locate(1,0);
+ lcd.printf("STOP\n");
+ void Brake();
+ break;
+
+ case 'A'://Anticlock
+ dirRa = 1;
+ dirRb = 0;
+ dirLa = 0;
+ dirLb = 1;
+ pwmL.period_ms(1);
+ pwmL=0.5;
+ pwmR.period_ms(1);
+ pwmR=0.5;
+
+ lcd.cls();
+ serial.printf("AntiClock\n");
+ lcd.locate(1,0);
+ lcd.printf("AntiClock\n");
+ break;
+
+ case 'C'://Clock
+ dirRa = 0;
+ dirRb = 1;
+ dirLa = 1;
+ dirLb = 0;
+ pwmL.period_ms(1);
+ pwmL=0.5f;
+ pwmR.period_ms(1);
+ pwmR=0.5f;
+
+ lcd.cls();
+ serial.printf("Clock\n");
+ lcd.locate(1,0);
+ lcd.printf("Clock\n");
+ break;
+
+
+
+
+
default:
serial.printf("Brake");
lcd.cls();
@@ -90,61 +199,62 @@
}
void front()
{
- m1dir1 = 1;
- m1dir2 = 0;
- m2dir1 = 1;
- m2dir2 = 0;
- pwm1.period(0.001f);
- pwm1=0.5;
- pwm2.period(0.001f);
- pwm2=0.5;
+
+ dirRa = 1;
+ dirRb = 0;
+ dirLa = 1;
+ dirLb = 0;
+ pwmL.period_ms(1);
+ pwmL=0.5;
+ pwmR.period_ms(1);
+ pwmR=0.5;
}
void brake()
{
- m1dir1 = 1;
- m1dir2 = 0;
- m2dir1 = 1;
- m2dir2 = 0;
- pwm1.period(0.001f);
- pwm1=0.0f;
- pwm2.period(0.001f);
- pwm2=0.0f;
+ dirRa = 0;
+ dirRb = 0;
+ dirLa = 0;
+ dirLb = 0;
+ pwmL.period_ms(1);
+ pwmL=0.0;
+ pwmR.period_ms(1);
+ pwmR=0.0;
}
void back()
{
- m1dir1 = 0;
- m1dir2 = 1;
- m2dir1 = 0;
- m2dir2 = 1;
- pwm1.period(0.001f);
- pwm1=0.5;
- pwm2.period(0.001f);
- pwm2=0.5;
+ dirRa = 0;
+ dirRb = 1;
+ dirLa = 0;
+ dirLb = 1;
+ pwmL.period_ms(1);
+ pwmL=0.5;
+ pwmR.period_ms(1);
+ pwmR=0.5;
}
void left()
{
- m1dir1 = 0;
- m1dir2 = 1;
- m2dir1 = 0;
- m2dir2 = 0;
- pwm1.period(0.001f);
- pwm1=0.5f;
- pwm2.period(0.001f);
- pwm2=0.0f;
+ dirRa = 0;
+ dirRb = 1;
+ dirLa = 0;
+ dirLb = 0;
+ pwmL.period_ms(1);
+ pwmL=0.5;
+ pwmR.period_ms(1);
+ pwmR=0.0;
}
void right()
{
- m1dir1 = 0;
- m1dir2 = 0;
- m2dir1 = 0;
- m2dir2 = 1;
- pwm1.period(0.001f);
- pwm1=0.0f;
- pwm2.period(0.001f);
- pwm2=0.5;
+ dirRa = 0;
+ dirRb = 0;
+ dirLa = 0;
+ dirLb = 1;
+ pwmL.period_ms(1);
+ pwmL=0.0f;
+ pwmR.period_ms(1);
+ pwmR=0.5f;
}