Diff: main.cpp

Revision:

1:fd1e7e2d0780

Parent:

0:6f0f41537e2f

Child:

2:284491e0f6bf

--- a/main.cpp	Sun Aug 25 19:55:53 2019 +0000
+++ b/main.cpp	Tue Aug 27 04:52:07 2019 +0000
@@ -1,36 +1,97 @@
 #include "mbed.h"
+#include "VL53L1X.h"
+#include "CONFIG.h"
+#define DEBUG
 
-/*------------------------------------------------------------------------------
-Before to use this example, ensure that you an hyperterminal installed on your
-computer. More info here: https://developer.mbed.org/handbook/Terminals
+#ifdef DEBUG
+DigitalOut led(LED1);
+#endif
 
-The default serial comm port uses the SERIAL_TX and SERIAL_RX pins (see their
-definition in the PinNames.h file).
+Serial bt(BLUETOOTH_TX, BLUETOOTH_RX);
+//Serial pc(USBTX, USBRX);
 
-The default serial configuration in this case is 9600 bauds, 8-bit data, no parity
+#ifdef ToF
+VL53L1X tof(ToF_I2C_SDA, ToF_I2C_SCL);    //F303K8(PB_7, PB_6), F072RB(PB_9, PB_8)
 
-If you want to change the baudrate for example, you have to redeclare the
-serial object in your code:
+DigitalOut Xshut1(ToF_XShut_1);
+DigitalOut Xshut2(ToF_XShut_2);
+DigitalOut Xshut3(ToF_XShut_3);
+#endif
 
-Serial pc(SERIAL_TX, SERIAL_RX);
+DigitalOut reverseR(MOTOR_REVERSE_R);
+DigitalOut reverseL(MOTOR_REVERSE_L);
 
-Then, you can modify the baudrate and print like this:
+AnalogOut throttleR(MOTOR_THROTTLE_R);
+AnalogOut throttleL(MOTOR_THROTTLE_L);
+
+char rxChar = 0;
+bool rxFlag = false;
 
-pc.baud(115200);
-pc.printf("Hello World !\n");
-------------------------------------------------------------------------------*/
-
-DigitalOut led(LED1);
+void rxData(){
+    rxChar = bt.getc();
+    bt.putc(0);
+    rxFlag = true;
+}
 
 int main()
 {
+    bt.baud(UART_BAUD);
+    bt.attach(&rxData, Serial::RxIrq);
     int i = 1;
+//    Xshut1 = 1;
 
-    printf("Hello World !\n");
+//    bt.printf("Hello World !\n");
 
+//    tof.begin();
+//    tof.setDistanceMode();
+    
     while(1) {
-        wait(1); // 1 second
-        led = !led; // Toggle LED
-        printf("This program runs since %d seconds.\n", i++);
+        
+        if(rxFlag)
+        {
+            #ifdef DEBUG
+            bt.puts("get\r\n");
+            #endif
+            
+            switch(rxChar){
+                case '1':
+                    throttleR = throttleR + DAC_ONE_STEP;
+                    break;
+                    
+                case '2':
+                    throttleR = throttleR - DAC_ONE_STEP;
+                    break;
+                    
+                case '3':
+                    throttleL = throttleL + DAC_ONE_STEP;
+                    break;
+                    
+                case '4':
+                    throttleL = throttleL - DAC_ONE_STEP;
+                    break;
+                    
+                case '5':
+                    reverseR = !reverseR;
+                    break;
+                    
+                case '6':
+                    reverseL = !reverseL;
+                    break;
+                    
+                default:    
+                    reverseR = 0;
+                    reverseL = 0;
+                    throttleL = 0;
+                    throttleR
+                    
+                    
+                    
+                     = 0;
+                    
+                
+            }
+            rxFlag = false;
+        }
+
     }
 }