main.cpp

00001 //Robot Unit with the Xbee module
00002 
00003 #include "mbed.h"
00004 #include "Motor.h"
00005 
00006 Serial xbee2(p9, p10);
00007 DigitalOut rst2(p8);
00008 
00009 Serial pc(USBTX, USBRX);
00010 
00011 DigitalOut myled2(LED3);
00012 DigitalOut myled1(LED4);
00013 
00014 Motor m1(p23, p11, p12); // pwm, fwd, rev //lEFT MOTOR
00015 Motor m2(p22, p14, p15); // pwm, fwd, rev //rIGHT MOTOR
00016 
00017 Motor m3(p23, p12, p11); // pwm, rev, fwd 
00018 Motor m4(p22, p15, p14); // pwm, rev, fwd
00019 int main() {
00020     char temp = '0';
00021 
00022     // reset the xbees (at least 200ns)
00023    // rst1 = 0;
00024     rst2 = 0;
00025     wait_ms(1); 
00026     //rst1 = 1;
00027     rst2 = 1;
00028     wait_ms(1); 
00029  
00030      for (float s= -1.0; s < 1.0 ; s += 0.01) {
00031      while(1) {
00032      temp = xbee2.getc();
00033      if(temp == 'C'){  //FORWARD
00034         m1.speed(s); 
00035         m2.speed(s);
00036         wait(0.02);
00037         }
00038         
00039          if(temp == 'D'){ //REVERSE
00040         m3.speed(s); 
00041         m4.speed(s);
00042         wait(0.02);
00043         }
00044         
00045                 myled1 = 1;
00046                 wait_ms(1);
00047                 myled1 = 0;
00048                 myled2 =1;
00049     
00050    } 
00051   }  
00052 }