Diff: main.cpp

Revision:

0:36fa63157d54

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Dec 14 04:50:03 2017 +0000
@@ -0,0 +1,100 @@
+#include "mbed.h"
+#include "Motor.h"
+#include "battery_gauge_bq27441.h"
+#include "rtos.h"
+
+Serial blue(p13,p14);
+Motor m1(p21, p19, p20); // pwm, fwd, rev
+Motor m2(p22, p17, p18); // pwm, fwd, rev
+DigitalOut myled(LED1);
+DigitalOut myled2(LED2);
+
+I2C i2C(p9, p10);
+BatteryGaugeBq27441 gauge;
+int32_t precentLeft;
+int32_t battVoltage;
+int32_t battCurrent;
+int32_t battPower;
+
+Thread t2;
+Mutex mutex;
+
+void threadPrintBattStats() {
+    while (true) { 
+        mutex.lock();
+        gauge.getCurrent(&battCurrent);
+        gauge.getRemainingPercentage(&precentLeft);
+        gauge.getVoltage(&battVoltage);
+        gauge.getPower(&battPower);
+        
+        blue.printf("%d%% %dmV %dmA %dmW\n",(int)precentLeft, (int)battVoltage, (int)battCurrent, (int)battPower);
+        mutex.unlock();
+        Thread::wait(500);
+    }
+}
+    
+int main()
+{
+    gauge.init(&i2C);
+    gauge.enableGauge();
+    t2.start(threadPrintBattStats);
+    
+    char bnum=0;
+    char bhit=0;
+    while(1) {
+        while(!blue.readable()){
+            Thread::yield();
+            } //Let other threads run if no characters available
+        
+        mutex.lock();
+        if (blue.getc()=='!') {
+            if (blue.getc()=='B') { //button data packet
+                bnum = blue.getc(); //button number
+                bhit = blue.getc(); //1=hit, 0=release
+                if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
+                    mutex.unlock();
+                    switch (bnum) {
+                        case '5': //button 5 up arrow
+                            if (bhit=='1') {
+                                m1.speed(.5);
+                                m2.speed(.5); 
+                            } else {
+                                m1.speed(0);
+                                m2.speed(0); 
+                            }
+                            break;
+                        case '6': //button 6 down arrow
+                            if (bhit=='1') {
+                                m1.speed(-.5);
+                                m2.speed(-.5);
+                            } else {
+                                m1.speed(0);
+                                m2.speed(0); 
+                            }
+                            break;
+                        case '7': //button 7 left arrow
+                            if (bhit=='1') {
+                                m1.speed(0);
+                                m2.speed(.5); 
+                            } else {
+                                m1.speed(0);
+                                m2.speed(0); 
+                            }
+                            break;
+                        case '8': //button 8 right arrow
+                            if (bhit=='1') {
+                                m1.speed(.5);
+                                m2.speed(0); 
+                            } else {
+                                m1.speed(0);
+                                m2.speed(0); 
+                            }
+                            break;
+                        default:
+                            break;
+                    }
+                }
+            }
+        }
+    }
+}
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