byeongjin kim
/
Hug2Go_ver_2
joystick_bjk
main.cpp
- Committer:
- Bhoney
- Date:
- 2019-08-27
- Revision:
- 1:fd1e7e2d0780
- Parent:
- 0:6f0f41537e2f
- Child:
- 2:284491e0f6bf
File content as of revision 1:fd1e7e2d0780:
#include "mbed.h" #include "VL53L1X.h" #include "CONFIG.h" #define DEBUG #ifdef DEBUG DigitalOut led(LED1); #endif Serial bt(BLUETOOTH_TX, BLUETOOTH_RX); //Serial pc(USBTX, USBRX); #ifdef ToF VL53L1X tof(ToF_I2C_SDA, ToF_I2C_SCL); //F303K8(PB_7, PB_6), F072RB(PB_9, PB_8) DigitalOut Xshut1(ToF_XShut_1); DigitalOut Xshut2(ToF_XShut_2); DigitalOut Xshut3(ToF_XShut_3); #endif DigitalOut reverseR(MOTOR_REVERSE_R); DigitalOut reverseL(MOTOR_REVERSE_L); AnalogOut throttleR(MOTOR_THROTTLE_R); AnalogOut throttleL(MOTOR_THROTTLE_L); char rxChar = 0; bool rxFlag = false; 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; // bt.printf("Hello World !\n"); // tof.begin(); // tof.setDistanceMode(); while(1) { 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; } } }