main.cpp

00001 #include "mbed.h"
00002 #include "TextLCD.h"  // LCD LIBRARY
00003 
00004 //***************
00005 //BLUETOOTH HEADER
00006 //By default the connection is set to 9600 bps
00007 Serial bluetooth(PB_6, PB_3);//Pins used for Serial Comm
00008 //***************
00009 
00010 
00011 //***************
00012 //LCD HEADER
00013 DigitalOut myled(LED1);//* "myled" is the name of the variable  
00014                        //* "LED1" refers to the integrated LED on the NUCLEO board 
00015                        //   but you can declare any other pin you like
00016                        
00017 TextLCD ark(PA_0,PA_1,PA_4,PB_0,PC_1,PC_0);// rs, e, d4-d7  -- REGISTER SELECT / ENABLE / DATA-PIN
00018 //Enable A0
00019 //RS     A1
00020 //A      A2
00021 //B      A3
00022 //C      A4
00023 //D      A5
00024 //***************
00025 
00026 
00027 //***************
00028 //ENCABEZADO PWM
00029 PwmOut led(PB_10);//Sends out the Enable signal for the L293D
00030 DigitalOut pa8(PA_8);   //DC motor 1
00031 DigitalOut pa9(PA_9);   //DC motor 1
00032 DigitalOut pb4(PB_4);   //DC motor 2
00033 DigitalOut pb5(PB_5);   //DC motor 2
00034 //***************
00035 
00036 
00037 
00038 int main()
00039 {
00040 int cont = 0;
00041  // lcd.cls(); To clear screen
00042     bluetooth.baud(9600);//Default is 9600 bps
00043 
00044     while(1) {
00045         char c = bluetooth.getc(); // Get daa sent from the bluetooth module
00046             if (c == 's') {// S = Backwards 
00047                
00048                ark.cls();
00049                ark.printf("Backwards");
00050 
00051                 pa8.write(1);
00052                 pa9.write(0);
00053                 pb4.write(1);
00054                 pb5.write(0);
00055                 
00056                 led.period(8.0f);      // 8 second period//8s
00057                 led.write(0.25f);      // 25% duty cycle, relative to period
00058              }
00059             
00060              if (c == 'w') {// 'W' = Forward
00061              ark.cls();
00062              ark.printf("Forward");
00063              
00064                 pa8.write(0);
00065                 pa9.write(1);
00066                 pb4.write(0);
00067                 pb5.write(1);
00068                 
00069                 led.period(8.0f);      // 8 second period
00070                 led.write(0.25f);      // 25% duty cycle, relative to period
00071               }
00072 
00073               if (c == 'a') {// 'A' = Left Turn
00074               ark.cls();
00075               ark.printf("Left Turn");
00076 
00077                 pa8.write(0);
00078                 pa9.write(1);
00079                 pb4.write(0);
00080                 pb5.write(0);
00081                 
00082                 led.period(8.0f);      // 8 second period
00083                 led.write(0.25f);      // 25% duty cycle, relative to period
00084                 }
00085         
00086               if (c == 'd') {// 'D' = Right Turn
00087               ark.cls();
00088               ark.printf("Right Turn");
00089 
00090                 pa8.write(0);
00091                 pa9.write(0);
00092                 pb4.write(0);
00093                 pb5.write(1);
00094                 
00095                 led.period(8.0f);      // 8 second period
00096                 led.write(0.25f);      // 25% duty cycle, relative to period
00097                 }
00098     }
00099 }