Diff: main.cpp

Revision:

0:122d7bf3bbf0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Sep 05 19:55:23 2016 +0000
@@ -0,0 +1,90 @@
+/*
+ * main.cpp
+ *
+ *  Created on: Aug 23, 2016
+ *      Author: tanpt
+ */
+
+#include "common.h"
+#include "MotorController.h"
+#include "SensorController.h"
+
+//#include "ble/BLE.h"
+//#include "ble/services/iBeacon.h"
+//#include "ble/services/UARTService.h"
+
+MotorController motorController;
+SensorController sensors;
+
+//// Sensor
+#define NOISE 5
+//#define DEBUG
+
+#ifdef DEBUG
+Serial pc(p10, p11);
+#endif
+Ticker ticker;
+
+#define VREF    3300.0  //mV
+
+//////////////////////////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////////////////////////////////////////////
+void periodicCallback(void) {
+
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////////
+int main(void) {
+    wait(0.1);
+//Init Hardware
+
+    sensors.init();
+
+//Init interupt Timer
+    ticker.attach(periodicCallback, 0.00015);
+    wait(0.5);
+
+    while (true) {
+        uint8_t sen_in = sensors.distanceSensorRight();
+        if ((sen_in > 0) && (sen_in <= 40)) {
+            motorController.moveForward(500);
+            wait(1);
+        } else {
+            motorController.moveForward(500);
+            wait(1);
+        }
+    }
+
+//    while (true) {
+//        //rotator_right(20);
+//        uint8_t sen_in = sensors.distanceSensor();
+//        if ((sensors.frontLeftSensor() == SensorController::SENSOR_OFF)
+//                && (sensors.frontRightSensor() == SensorController::SENSOR_OFF)) {
+//            motorController.moveBackward(1000);
+//            wait(1);
+//        } else if (sensors.frontLeftSensor() == SensorController::SENSOR_OFF) {
+//            motorController.moveBackRight(1000);
+//            wait(1);
+//        } else if (sensors.frontRightSensor() == SensorController::SENSOR_OFF) {
+//            motorController.moveBackLeft(1000);
+//            wait(1);
+//        } else if (sensors.backSensor() == SensorController::SENSOR_OFF) {
+//            motorController.moveForward(1000);
+//            wait_ms(1);
+//        } else {
+//            if ((sen_in > 0) && (sen_in <= 80)) {
+//                motorController.moveForward(1000);
+//                wait_ms(200);
+//            } else {
+//                motorController.turnRight(1000);
+//                wait_us(200);
+//            }
+//        }
+//    }
+
+}