Dima Dudin / Mbed 2 deprecated DD_Robot

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Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

main.cpp@9:8f98b1c277a4, 2017-09-16 (annotated)

Committer:
dima285
Date:
Sat Sep 16 13:24:25 2017 +0000
Revision:
9:8f98b1c277a4
Parent:
8:891e4f54e9e2
Child:
10:5bdd3dfd5f59
shoto rabotaet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Stas285 0:e9488589a8ee 1 #include "stm32f103c8t6.h"
Stas285 0:e9488589a8ee 2 #include "mbed.h"
Stas285 6:6e89cdc3db92 3 //#include "USBSerial.h"
Stas285 1:e2a6e523bf1f 4 #include "common.h"
Stas285 4:904b737ef08a 5 #include "gyro.h"
Stas285 0:e9488589a8ee 6 #include "motor.h"
Stas285 0:e9488589a8ee 7 #include "serva.h"
Stas285 0:e9488589a8ee 8 #include "echo.h"
Stas285 0:e9488589a8ee 9 #include "motion.h"
Stas285 1:e2a6e523bf1f 10 #include "wifi.h"
Stas285 0:e9488589a8ee 11 #include "realtime.h"
Stas285 0:e9488589a8ee 12 #include "system.h"
Stas285 6:6e89cdc3db92 13 #include "sound.h"
Stas285 0:e9488589a8ee 14
Stas285 0:e9488589a8ee 15 int main() {
Stas285 0:e9488589a8ee 16 system_init();
Stas285 6:6e89cdc3db92 17 // usb_serial.printf("I am a USB serial port\r\n");
dima285 9:8f98b1c277a4 18 //stop();
Stas285 4:904b737ef08a 19 gyro_x=0, gyro_y=0, gyro_angle=0, gyro_v=0, gyro_s=0;
Stas285 6:6e89cdc3db92 20 play(21);
dima285 9:8f98b1c277a4 21 /*go(1);
dima285 9:8f98b1c277a4 22 stop();*/
dima285 9:8f98b1c277a4 23 speed = 10;radius = 1e5;
dima285 9:8f98b1c277a4 24 infinite_flag = 1;motor_busy = 1;stop_flag = 0;
dima285 9:8f98b1c277a4 25 //go(5);
dima285 8:891e4f54e9e2 26 //external_command = 0xff;
Stas285 4:904b737ef08a 27
Stas285 4:904b737ef08a 28 /* MPU6050 gyro(PB_9,PB_8);
Stas285 4:904b737ef08a 29 pc.printf("%hu ::",gyro.getID());
Stas285 4:904b737ef08a 30 pc.printf("%hu ::",gyro.getID());
Stas285 4:904b737ef08a 31 pc.printf("%hu ::",gyro.getID());
Stas285 4:904b737ef08a 32 pc.printf("%hu ::",gyro.getID());
Stas285 4:904b737ef08a 33
Stas285 4:904b737ef08a 34 I2C i2c(PB_9,PB_8);
Stas285 4:904b737ef08a 35 i2c.frequency(400000);
Stas285 4:904b737ef08a 36 int tmaddr = 0xD1;
Stas285 4:904b737ef08a 37 char tmdata = 117;
Stas285 4:904b737ef08a 38 pc.printf("%hhu, ",i2c.write(tmaddr, &tmdata,1));
Stas285 4:904b737ef08a 39 pc.printf("%hhu, ",i2c.write(tmaddr, &tmdata,1));
Stas285 4:904b737ef08a 40 pc.printf("%hhu: ",i2c.read(tmaddr,&tmdata,1));
Stas285 4:904b737ef08a 41 pc.printf("%hhu; \n",tmdata);
Stas285 4:904b737ef08a 42 */
Stas285 4:904b737ef08a 43 while(1){
dima285 9:8f98b1c277a4 44 //pc.printf("mhgc");
Stas285 4:904b737ef08a 45 while(realtime_flag == 0){}
dima285 9:8f98b1c277a4 46
dima285 9:8f98b1c277a4 47 if(external_command != 0) command_process();
Stas285 6:6e89cdc3db92 48 //wait_ms(40); //blocking
dima285 9:8f98b1c277a4 49 gy_old = gy;
Stas285 4:904b737ef08a 50 gyro_process(); //doesn't work in interrupt
dima285 9:8f98b1c277a4 51 //pc.printf("ax:%.2f",ax);
dima285 9:8f98b1c277a4 52 //if (infinite_flag == 1) wifi.printf("%.4f %.2f %.2f; ",ax,gz,motor_speed[1]);
dima285 9:8f98b1c277a4 53 //wifi.printf("%.4f %.2f %.2f ",ax,ax,ax);
Stas285 6:6e89cdc3db92 54 realtime_flag = 0;
Stas285 4:904b737ef08a 55 }
Stas285 0:e9488589a8ee 56 //while(1){proc_counter++;}
Stas285 1:e2a6e523bf1f 57 // dance(10,5);
Stas285 0:e9488589a8ee 58 }
Stas285 0:e9488589a8ee 59 //check_battery;