Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

main.cpp@15:960b922433d1, 2018-12-01 (annotated)

Committer:
Stas285
Date:
Sat Dec 01 14:25:04 2018 +0000
Revision:
15:960b922433d1
Parent:
13:789b451cc27d
Child:
17:bd6b6ac89e0e
Child:
18:af32a5e7e8ae
coord_ready

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 1:e2a6e523bf1f 3 #include "common.h"
Stas285 4:904b737ef08a 4 #include "gyro.h"
Stas285 0:e9488589a8ee 5 #include "motor.h"
Stas285 0:e9488589a8ee 6 #include "serva.h"
Stas285 0:e9488589a8ee 7 #include "echo.h"
Stas285 0:e9488589a8ee 8 #include "motion.h"
Stas285 1:e2a6e523bf1f 9 #include "wifi.h"
Stas285 0:e9488589a8ee 10 #include "realtime.h"
Stas285 0:e9488589a8ee 11 #include "system.h"
Stas285 6:6e89cdc3db92 12 #include "sound.h"
Stas285 0:e9488589a8ee 13
Stas285 0:e9488589a8ee 14 int main() {
Stas285 15:960b922433d1 15 int k;
Stas285 15:960b922433d1 16 wait_ms(500);
Stas285 0:e9488589a8ee 17 system_init();
Stas285 15:960b922433d1 18 start_recognizer();
Stas285 15:960b922433d1 19 play(1);
dima285 10:5bdd3dfd5f59 20
dima285 12:721a9ea55e91 21 while(1){
Stas285 4:904b737ef08a 22 while(realtime_flag == 0){}
Stas285 15:960b922433d1 23 myled = 0; //inverse connection
dima285 12:721a9ea55e91 24 gyro.read(&gx,&gy,&gz,&ax,&ay,&az); //doesn't work in interrupt // reading - 500 uS
Stas285 15:960b922433d1 25 //constant speed motion: distance_to_target = (x_diff/x_prop) * target.speed
Stas285 15:960b922433d1 26 balance_coord();
Stas285 15:960b922433d1 27 //balance_motion();
dima285 9:8f98b1c277a4 28 if(external_command != 0) command_process();
Stas285 15:960b922433d1 29 voice_command_process();
Stas285 15:960b922433d1 30 if (k++ > 1000) {k = 0;} else { target.x = trajectory[int(k/100)][0];target.y = trajectory[int(k/100)][1]; target.azimuth = trajectory[int(k/100)][2];}
Stas285 15:960b922433d1 31 realtime_flag = 0; myled = 1;
Stas285 4:904b737ef08a 32 }
Stas285 0:e9488589a8ee 33 //while(1){proc_counter++;}
Stas285 0:e9488589a8ee 34 }
Stas285 15:960b922433d1 35