main.cpp

00001 // Sumo Robot control via Bluetooth/Nokia Presenter
00002 // Copyright (c) 2009 sford
00003 // Released under the MIT License: http://mbed.org/license/mit
00004  
00005 #include "mbed.h"
00006 #include "Motor.h"
00007 #include "NokiaPresenter.h"
00008 
00009 Motor left(p23, p6, p5);  // pwm, fwd, rev
00010 Motor right(p24, p8, p7); // pwm, fwd, rev
00011 
00012 BusOut leds(LED1, LED2, LED3, LED4);
00013 
00014 int main() {
00015     leds = 1;
00016     NokiaPresenter nokia(p28, p27, p29); // tx, rx, rst    
00017     leds = 2;
00018     
00019     while(1) {    
00020         switch(nokia.key()) {
00021             case 0: 
00022                 left.speed(0.0); 
00023                 right.speed(0.0);
00024                 leds = 0;
00025                 break;
00026             case 'U':
00027                 left.speed(1.0);
00028                 right.speed(1.0);
00029                 leds = 1 << 0 | 1 << 2;
00030                 break;
00031             case 'D':
00032                 left.speed(-1.0);
00033                 right.speed(-1.0);
00034                 leds = 1 << 1 | 1 << 3;
00035                 break;
00036             case 'L':
00037                 left.speed(-1.0);
00038                 right.speed(1.0);
00039                 leds = 1 << 1 | 1 << 2;
00040                 break;
00041             case 'R':
00042                 left.speed(1.0);
00043                 right.speed(-1.0);
00044                 leds = 1 << 0 | 1 << 3;
00045                 break;
00046         }
00047     }
00048 }