File content as of revision 12:e95ed962be7a:

#include "mbed.h"

#include "autocar.h"

DigitalOut M1_enable(D6);
DigitalOut M2_enable(D5);
DigitalOut M1_in1(D3);
DigitalOut M1_in2(D2);
DigitalOut M2_in3(D1);
DigitalOut M2_in4(D0);
const int MOTOR_M1 = 0;
const int MOTOR_M2 = 1;
const int DIR_FORWARD = 0;
const int DIR_BACKWARD = 1;
const int PWR_STOP = 0;

// used for IR sensors
AnalogIn leftIR(A1);
AnalogIn middleIR(A3);
AnalogIn rightIR(A5);

// used for output message via serial
Serial pc(SERIAL_TX, SERIAL_RX);

long map(long x, long in_min, long in_max, long out_min, long out_max)
{
    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

void readIR(bool* left, bool* middle, bool* right, int threshold)
{
    // not on track: > 500
    // on track (black): < 500
    *left = leftIR.read_u16() < threshold ? true : false;
    *middle = middleIR.read_u16() < threshold ? true : false;
    *right = rightIR.read_u16() < threshold ? true : false;
}

// m: 0 => M1      1 => M2
// power 0~10     dir: 0=>正向　1=>反向
void DriveSingleMotor(int m, int speed, int dir)
{
    /*int _speed = 0;

    //　設定速度
    if (speed>10) speed=10;
    _speed = map(speed, 1, 10, 100, 255);

    if (speed<=0) {
        speed=0;
        _speed=0;
    } else
        _speed = map(speed, 1, 10, 100, 255);*/

    if (m == MOTOR_M1) {
        //　設定方向
        if (speed == PWR_STOP) {
            M1_in1 = 0;
            M1_in2 = 0;
        } else if (dir ==  DIR_FORWARD) {
            // right wheel go forward
            M1_in1 = 1;
            M1_in2 = 0;
        } else {
            // right wheel go backward
            M1_in1 = 0;
            M1_in2 = 1;
        }
        //M1_enable.write_u16(_speed); // 驅動馬達  右輪
        M1_enable.write(1);

    } else if (m == MOTOR_M2) {
        //　設定方向
        if (speed == PWR_STOP) {
            M2_in3 = 0;
            M2_in4 = 0;
        } else if (dir == DIR_FORWARD) {
            //左輪前進
            M2_in3 = 1;
            M2_in4 = 0;
        } else {
            //左輪倒轉
            M2_in3 = 0;
            M2_in4 = 1;
        }
        //M2_enable.write_u16(_speed); // 驅動馬達  左輪
        M2_enable.write(1);
    } else {
        //M1_enable.write_u16(PWR_STOP); // right wheel
        //M2_enable.write_u16(PWR_STOP); // left wheel
        M1_enable.write(0);
        M2_enable.write(0);
    }
}

void driveMotor(bool left, bool middle, bool right)
{
    int status = left * 4 + middle * 2 + right;
    switch(status) {
        case 7: // go straight
            pc.printf("7. go straight\r\n");
            forward();
            break;
        case 6: // turn left
            pc.printf("6. turn left\r\n");
            turnLeft();
            break;
        case 5: // go straight
            pc.printf("5. go straight\r\n");
            forward();
            break;
        case 4: // turn left
            pc.printf("4. turn left\r\n");
            turnLeft();
            break;
        case 3: // turn right
            pc.printf("3. turn right\r\n");
            turnRight();
            break;
        case 2: // go straight
            pc.printf("2. go straight\r\n");
            forward();
            break;
        case 1: // turn right
            pc.printf("1. turn right\r\n");
            turnRight();
            break;
        case 0: // go straight
            pc.printf("0. go straight\r\n");
            forward();
            break;
        default:
            pc.printf("invalid\r\n");
            break;
    }
}

void init()
{
    DriveSingleMotor(MOTOR_M1, PWR_STOP, DIR_FORWARD);
    DriveSingleMotor(MOTOR_M2, PWR_STOP, DIR_FORWARD);
}

void forward()
{
    DriveSingleMotor(MOTOR_M1, 2, DIR_FORWARD);
    DriveSingleMotor(MOTOR_M2, 2, DIR_FORWARD);
}

void turnLeft()
{
    DriveSingleMotor(MOTOR_M1, PWR_STOP, DIR_FORWARD);
    DriveSingleMotor(MOTOR_M2, 2, DIR_FORWARD);
}

void turnRight()
{
    DriveSingleMotor(MOTOR_M1, 2, DIR_FORWARD);
    DriveSingleMotor(MOTOR_M2, PWR_STOP, DIR_FORWARD);
}