Diff: main.cpp

Revision:

0:8006d54f74ab

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 18 12:44:19 2011 +0000
@@ -0,0 +1,140 @@
+#include "mbed.h"
+#include "MSCFileSystem.h"
+#include "m3pi.h"
+
+#define MOTOR_ENABLED
+#define USBFS
+
+m3pi m3pi;
+
+BusOut leds(LED1,LED2,LED3,LED4);
+
+DigitalIn button(p21);
+
+int main() {
+
+    // pull up the digital input for the button - The
+    button.mode(PullUp);
+
+    LocalFileSystem *lfs = NULL;
+    MSCFileSystem *mfs = NULL;
+    m3pi.locate(0,1);
+
+    if (button) {
+        mfs = new MSCFileSystem("fs");
+        m3pi.printf(" USB    ");
+    } else {
+        lfs = new LocalFileSystem("fs");
+        m3pi.printf(" Local    ");
+    }
+ 
+    wait (0.5);
+
+    float speed = 0.5;
+    leds = 0x0;
+
+    // Open the command.txt file
+    FILE *commandfile = fopen("/fs/command.txt", "r");
+
+    // If there is no file, sit flashing the LEDs
+    if (commandfile == NULL) {
+        m3pi.cls();
+        m3pi.printf("No File");
+        while (1) {
+            leds=0x9;
+            wait(0.2);
+            leds=0x6;
+            wait(0.2);
+        }
+    }
+
+    printf("File found\n");
+
+    m3pi.cls();
+    m3pi.printf(" File   ");
+    m3pi.locate(0,1);
+    m3pi.printf(" Found  ");
+
+    wait (0.5);
+
+    // process each of the commands in the file
+    while (!feof(commandfile)) {
+
+        char command = 0;
+        int data = 0.0;
+
+        // Read from the command file
+        fscanf(commandfile, "%c %d\n", &command, &data);
+        printf("%c %d\n",command,data);
+
+        m3pi.cls();
+        m3pi.printf(" %c %4d",command,data);
+
+        // Turn forward
+        if ((command=='f') || (command=='F')) {
+#ifdef MOTOR_ENABLED
+            m3pi.forward(speed);
+#endif
+        }
+
+        // Turn back
+        else if ((command=='b') || (command=='B')) {
+#ifdef MOTOR_ENABLED
+            m3pi.backward(speed);
+#endif
+        }
+
+        // Turn left
+        else if ((command=='l') || (command=='L')) {
+#ifdef MOTOR_ENABLED
+            m3pi.left(speed);
+#endif
+        }
+
+        // Turn right
+        else if ((command=='r') || (command=='R')) {
+#ifdef MOTOR_ENABLED
+            m3pi.right(speed);
+#endif
+        }
+
+        // Set LED 8,4,2,1
+        else if ((command=='d') || (command=='D')) {
+            leds=data;
+        }
+
+        // Set Speed 0-100
+        else if ((command=='s') || (command=='S')) {
+            if ((data > 0) && (data <= 100)) {
+                float foo = data/100.0;
+                speed = foo;
+                printf("speed = %f\n", foo);
+            }
+        }
+
+        // Wait commands
+        else if ((command=='w') || (command=='W')) {
+        }
+
+        // wait for the length of the command
+        wait(data/1000.0);
+        m3pi.stop();
+
+    } // this is the end of the file while loop
+
+    fclose(commandfile);
+
+    m3pi.stop();
+    m3pi.cls();
+    m3pi.printf("  Done  ");
+
+    printf("Done\n");
+
+    while (1) {
+        leds=0;
+        wait(0.5);
+        leds=0xf;
+        wait(0.5);
+    }
+
+} // end of main