Diff: main.cpp

Revision:

7:f65ab31f81e7

Parent:

5:e5bf798e0522

Child:

8:c54f1cfcbfe0

--- a/main.cpp	Wed Nov 16 00:12:04 2022 +0000
+++ b/main.cpp	Wed Nov 16 01:35:20 2022 +0000
@@ -10,6 +10,18 @@
 Motor left_motor(p23, p15, p16); // pwm, fwd, rev
 Motor right_motor(p22, p17, p18); // pwm, fwd, rev
 
+// IR 
+Serial ir_device(p13, p14);  // tx, rx
+DigitalOut rx_led(LED1);  //LED1 and LED2 indicate TX/RX activity for IR
+DigitalOut tx_led(LED2);
+PwmOut IRLED(p21);
+
+// Lives LEDs
+BusOut lives_leds(p5, p6, p7);
+
+// Speaker
+PwmOut speaker(p25);
+
 volatile float speed_left = 0;
 volatile float speed_right = 0;
 volatile float turret_delta = 0;
@@ -18,12 +30,13 @@
 
 Thread thread_drive;
 Thread thread_turret;
-Thread thread_fire;
+Thread thread_ir_receive;
 
 void input_loop();
 inline void set_speed(float l, float r);
 inline void set_turret_delta(float delta);
 inline void fire_cannon(bool f);
+inline void decrease_lives();
  
 void input_thread() {
     
@@ -53,15 +66,30 @@
     }
 }
 
-void fire_thread() {
-    
+void ir_receive_thread() {
+    // IR setup
+    //Drive IR LED data pin with 38Khz PWM Carrier
+    //Drive IR LED gnd pin with serial TX
+    IRLED.period(1.0/38000.0);
+    IRLED = 0.5;
+    ir_device.baud(2400);
+    while(1) {
+        if(ir_device.readable()) {
+            rx_led = 1;
+            pc.putc(ir_device.getc());
+            decrease_lives();
+            rx_led = 0;
+        }  
+    }
 }
 
  
 int main() {
+    lives_leds = 7;
+
     thread_drive.start(drive_thread);
     //thread_turret.start(turret_thread);
-    thread_fire.start(fire_thread);
+    thread_ir_receive.start(ir_receive_thread);
     
     input_loop();
 }
@@ -145,5 +173,19 @@
 }
 
 inline void fire_cannon(bool f) {
-    fire = f;
+    if (f) {
+        tx_led = 1;
+        ir_device.putc('f');
+        tx_led = 0;
+    }
+}
+
+inline void decrease_lives() {
+    if (lives_leds == 7) {
+        lives_leds = 3;
+    } else if (lives_leds == 3) {
+        lives_leds = 1;
+    } else {
+        lives_leds = 0;
+    }
 }
\ No newline at end of file