stilldk
Dependencies: vl53l0x_api SRF05
main.cpp
- Committer:
- dnikolz
- Date:
- 2022-03-10
- Revision:
- 0:041c1089b6e5
File content as of revision 0:041c1089b6e5:
#include "mbed.h" #include "SRF05.h" #include "Simplifier.h" #include "Shape.h" #include "VL53L0XSimplifier.h" #define Pin1 PB_0 #define Pin2 PB_0 #define Pin_GPIO PB_0 //DigitalOut myled(LED1); PwmOut Drive_pin_A(PA_8); //steering servo PWM output pin D7 PwmOut Drive_pin_B(PA_9); //Not Used PwmOut Drive_pin_C(PB_10); //Motor drive PWM output pin D6 PwmOut Drive_pin_D(PB_4); //Motor drive PWM output pin D5 int Turn_right=2; int Turn_left=0; int Speed1=10; //Half power int Speed2=20; //Full power int PW_Period=20; int main() { Simplifier::accelerator(); VL53Simplifier::runVL53(); // default main Drive_pin_D.period_ms(PW_Period); Drive_pin_D.pulsewidth_ms(0); Drive_pin_C.period_ms(PW_Period); Drive_pin_C.pulsewidth_ms(0); //drive motor off wait_us(7); Drive_pin_A.period_ms(PW_Period); //Steering Servo period Drive_pin_A.pulsewidth_us(1525); //Steering neutral (includes a 25uS offset) wait_us(1); Drive_pin_D.period_ms(PW_Period); Drive_pin_D.pulsewidth_ms(0); Drive_pin_C.period_ms(PW_Period); Drive_pin_C.pulsewidth_ms(Speed1); //drive motor on forward half power wait_us(4); Shape::oval(); Drive_pin_A.pulsewidth_us(1275); //Half turn right wait_us(7 ); Drive_pin_A.pulsewidth_us(1000); // Full steering lock Drive_pin_C.period_ms(PW_Period); Drive_pin_C.pulsewidth_ms(Speed2); // Full power wait_us(5); Drive_pin_A.pulsewidth_us(1525); // Neutral steering wait_us(1); Drive_pin_A.pulsewidth_us(2000); // full steering opposite lock wait_us(5.5); Drive_pin_A.pulsewidth_us(1525); // Neutral steering wait_us(1); Drive_pin_D.period_ms(PW_Period); //drive motor reverse Drive_pin_D.pulsewidth_ms(Speed1); Drive_pin_C.period_ms(PW_Period); Drive_pin_C.pulsewidth_ms(0); wait_us(3); Drive_pin_C.period_ms(PW_Period); //drive motor off Drive_pin_C.pulsewidth_ms(0); Drive_pin_D.period_ms(PW_Period); Drive_pin_D.pulsewidth_ms(0); }