main.cpp

00001 #include "mbed.h"
00002 #include "Motor.h"
00003 
00004 /*
00005  *  This code reads command files to control the motors.
00006  *  The file name it reads is command.txt
00007  *
00008  *  The file format is :
00009  *
00010  *      <command> <data> 
00011  *
00012  *  The commands are :
00013  *
00014  *      F - Forward, both motor on full speed forwards
00015  *      B - Backwards, both motors on full speed in reverse
00016  *      L - Left, left motor full speed backwards, right motor full speed forward
00017  *      R - Right, right motor full speed backwards, left motor full speed forward
00018  *      W - Wait, both motors stop
00019  *
00020  *  Data :
00021  *
00022  *      Data is a time in milliseconds to carry out the command.
00023  *
00024  *  Example :
00025  *
00026  *      F 1000
00027  *      W 200
00028  *      L 1000
00029  *      W 200
00030  *      R 1000
00031  *      W 200
00032  *      B 1000
00033  *      W 200
00034  */
00035 
00036 
00037 LocalFileSystem local("local");
00038 
00039 Serial pc(USBTX, USBRX);
00040 
00041 BusOut leds(LED1,LED2,LED3,LED4);
00042 
00043 Motor left(p23, p6, p5);
00044 Motor right(p24, p8, p7);
00045 
00046 
00047 int main() {    
00048             
00049     leds = 0x0;
00050     
00051     // flash the LED 3 time before starting
00052     for (int i=0; i < 3 ; i++) {
00053         leds = 0x1;    
00054         wait (0.5);    
00055         leds = 0x0;    
00056         wait (0.5);
00057     }
00058         
00059     // Open the command.txt file
00060     FILE *commandfile = fopen("/local/command.txt", "r");
00061 
00062     // If there is no file, sit flashing the LEDs
00063     if (commandfile == NULL) { 
00064         while(1) {
00065             leds = 0xf;
00066             wait(0.5);
00067             leds = 0x0;
00068             wait(0.5);
00069         }
00070     } 
00071     
00072     // process each of the commands in the file
00073     while (!feof(commandfile)) {
00074     
00075         char command = 0;
00076         int data = 0.0;
00077          
00078         // Read from the command file
00079         fscanf(commandfile, "%c %d\n", &command, &data); 
00080                          
00081         if((command=='f') || (command=='F')){
00082                 left.speed(1);
00083                 right.speed(1);
00084         }        
00085         else if((command=='b') || (command=='B')){
00086                 left.speed(-1);
00087                 right.speed(-1);
00088         }
00089         else if((command=='l') || (command=='L')){
00090                 left.speed(-1);
00091                 right.speed(1);
00092         }
00093         else if ((command=='r') || (command=='R')){
00094                 left.speed(1);
00095                 right.speed(-1);
00096         }
00097         // Wait commands
00098         else if ((command=='w') || (command=='W')){
00099         }
00100 
00101         // wait for the length of the command
00102         wait(data/1000.0);        
00103 
00104         // Switch the motors off
00105         left.speed(0);
00106         right.speed(0);
00107 
00108 
00109     } // this is the end of the file while loop
00110 
00111 
00112     for (int i=0;i<10;i++) {
00113         leds = 0x0;
00114         wait (0.2);
00115         leds = 0xf;
00116         wait (0.2);
00117     }
00118         
00119     fclose(commandfile);
00120     exit(0);
00121     
00122 } // end of main