Derek McLean / Mbed 2 deprecated uwb-quadcopter

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Dependencies:   mbed ESC SR04 TSI

touchdemo.cpp@19:96be4c99e9e3, 2013-06-06 (annotated)

Committer:
MitchJCarlson
Date:
Thu Jun 06 18:43:51 2013 +0000
Revision:
19:96be4c99e9e3
New touch demo and the step motor demo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MitchJCarlson 19:96be4c99e9e3 1 #include "mbed.h"
MitchJCarlson 19:96be4c99e9e3 2 #include "TSISensor.h"
MitchJCarlson 19:96be4c99e9e3 3 #include "esc.h"
MitchJCarlson 19:96be4c99e9e3 4
MitchJCarlson 19:96be4c99e9e3 5 int main() {
MitchJCarlson 19:96be4c99e9e3 6
MitchJCarlson 19:96be4c99e9e3 7 /* Electronic Speed Control */
MitchJCarlson 19:96be4c99e9e3 8 ESC esc1(PTD4);
MitchJCarlson 19:96be4c99e9e3 9 ESC esc2(PTC9);
MitchJCarlson 19:96be4c99e9e3 10 ESC esc3(PTC8);
MitchJCarlson 19:96be4c99e9e3 11 ESC esc4(PTA5);
MitchJCarlson 19:96be4c99e9e3 12
MitchJCarlson 19:96be4c99e9e3 13 int throttleLevel = 0;
MitchJCarlson 19:96be4c99e9e3 14
MitchJCarlson 19:96be4c99e9e3 15
MitchJCarlson 19:96be4c99e9e3 16 /* Mode LEDs */
MitchJCarlson 19:96be4c99e9e3 17 PwmOut led1(LED_BLUE);
MitchJCarlson 19:96be4c99e9e3 18 PwmOut led2(LED_GREEN);
MitchJCarlson 19:96be4c99e9e3 19 PwmOut led3(LED_RED);
MitchJCarlson 19:96be4c99e9e3 20
MitchJCarlson 19:96be4c99e9e3 21 led1 = 1;
MitchJCarlson 19:96be4c99e9e3 22 led2 = 1;
MitchJCarlson 19:96be4c99e9e3 23 led3 = 1;
MitchJCarlson 19:96be4c99e9e3 24
MitchJCarlson 19:96be4c99e9e3 25 /* Capacitive Touch Sensor */
MitchJCarlson 19:96be4c99e9e3 26 TSISensor tsi;
MitchJCarlson 19:96be4c99e9e3 27
MitchJCarlson 19:96be4c99e9e3 28 float percent=0;
MitchJCarlson 19:96be4c99e9e3 29
MitchJCarlson 19:96be4c99e9e3 30 while (1)
MitchJCarlson 19:96be4c99e9e3 31 {
MitchJCarlson 19:96be4c99e9e3 32 if (tsi.readPercentage() > 0) {
MitchJCarlson 19:96be4c99e9e3 33 percent = tsi.readPercentage();
MitchJCarlson 19:96be4c99e9e3 34 }
MitchJCarlson 19:96be4c99e9e3 35
MitchJCarlson 19:96be4c99e9e3 36 // LED=1,2,3 : blue=001, green=101, red=110
MitchJCarlson 19:96be4c99e9e3 37 led1 = (percent <= 0.33)?0:1;
MitchJCarlson 19:96be4c99e9e3 38 led2 = (percent > 0.66 && percent <= 1)?1:0;
MitchJCarlson 19:96be4c99e9e3 39 led3 = (percent > 0.66 && percent <= 1)?0:1;
MitchJCarlson 19:96be4c99e9e3 40
MitchJCarlson 19:96be4c99e9e3 41 if (percent <= 0.33) {
MitchJCarlson 19:96be4c99e9e3 42 throttleLevel = 0;
MitchJCarlson 19:96be4c99e9e3 43 esc1.setThrottle(throttleLevel); esc2.setThrottle(throttleLevel); esc3.setThrottle(throttleLevel); esc4.setThrottle(throttleLevel);
MitchJCarlson 19:96be4c99e9e3 44 }
MitchJCarlson 19:96be4c99e9e3 45 else if (percent > 0.33 && percent <= 0.66) {
MitchJCarlson 19:96be4c99e9e3 46 throttleLevel = 15;
MitchJCarlson 19:96be4c99e9e3 47 esc1.setThrottle(throttleLevel); esc2.setThrottle(throttleLevel); esc3.setThrottle(throttleLevel); esc4.setThrottle(throttleLevel);
MitchJCarlson 19:96be4c99e9e3 48 }
MitchJCarlson 19:96be4c99e9e3 49 else if (percent > 0.66) {
MitchJCarlson 19:96be4c99e9e3 50 throttleLevel = 30;
MitchJCarlson 19:96be4c99e9e3 51 esc1.setThrottle(throttleLevel); esc2.setThrottle(throttleLevel); esc3.setThrottle(throttleLevel); esc4.setThrottle(throttleLevel);
MitchJCarlson 19:96be4c99e9e3 52 }
MitchJCarlson 19:96be4c99e9e3 53 esc1.pulse();
MitchJCarlson 19:96be4c99e9e3 54 esc2.pulse();
MitchJCarlson 19:96be4c99e9e3 55 esc3.pulse();
MitchJCarlson 19:96be4c99e9e3 56 esc4.pulse();
MitchJCarlson 19:96be4c99e9e3 57 wait_ms(20);
MitchJCarlson 19:96be4c99e9e3 58 }
MitchJCarlson 19:96be4c99e9e3 59 }