stilldk
Dependencies: vl53l0x_api SRF05
main.cpp
00001 #include "mbed.h" 00002 #include "SRF05.h" 00003 #include "Simplifier.h" 00004 #include "Shape.h" 00005 #include "VL53L0XSimplifier.h" 00006 00007 #define Pin1 PB_0 00008 #define Pin2 PB_0 00009 #define Pin_GPIO PB_0 00010 //DigitalOut myled(LED1); 00011 00012 PwmOut Drive_pin_A(PA_8); //steering servo PWM output pin D7 00013 PwmOut Drive_pin_B(PA_9); //Not Used 00014 PwmOut Drive_pin_C(PB_10); //Motor drive PWM output pin D6 00015 PwmOut Drive_pin_D(PB_4); //Motor drive PWM output pin D5 00016 00017 int Turn_right=2; 00018 int Turn_left=0; 00019 int Speed1=10; //Half power 00020 int Speed2=20; //Full power 00021 int PW_Period=20; 00022 00023 int main() 00024 { 00025 Simplifier::accelerator(); 00026 VL53Simplifier::runVL53(); 00027 // default main 00028 Drive_pin_D.period_ms(PW_Period); 00029 Drive_pin_D.pulsewidth_ms(0); 00030 Drive_pin_C.period_ms(PW_Period); 00031 Drive_pin_C.pulsewidth_ms(0); //drive motor off 00032 00033 wait_us(7); 00034 00035 Drive_pin_A.period_ms(PW_Period); //Steering Servo period 00036 Drive_pin_A.pulsewidth_us(1525); //Steering neutral (includes a 25uS offset) 00037 00038 wait_us(1); 00039 00040 Drive_pin_D.period_ms(PW_Period); 00041 Drive_pin_D.pulsewidth_ms(0); 00042 Drive_pin_C.period_ms(PW_Period); 00043 Drive_pin_C.pulsewidth_ms(Speed1); //drive motor on forward half power 00044 00045 wait_us(4); 00046 Shape::oval(); 00047 00048 Drive_pin_A.pulsewidth_us(1275); //Half turn right 00049 00050 wait_us(7 ); 00051 00052 Drive_pin_A.pulsewidth_us(1000); // Full steering lock 00053 Drive_pin_C.period_ms(PW_Period); 00054 Drive_pin_C.pulsewidth_ms(Speed2); // Full power 00055 00056 wait_us(5); 00057 00058 Drive_pin_A.pulsewidth_us(1525); // Neutral steering 00059 00060 wait_us(1); 00061 00062 Drive_pin_A.pulsewidth_us(2000); // full steering opposite lock 00063 00064 wait_us(5.5); 00065 00066 Drive_pin_A.pulsewidth_us(1525); // Neutral steering 00067 00068 wait_us(1); 00069 00070 Drive_pin_D.period_ms(PW_Period); //drive motor reverse 00071 Drive_pin_D.pulsewidth_ms(Speed1); 00072 Drive_pin_C.period_ms(PW_Period); 00073 Drive_pin_C.pulsewidth_ms(0); 00074 00075 wait_us(3); 00076 00077 Drive_pin_C.period_ms(PW_Period); //drive motor off 00078 Drive_pin_C.pulsewidth_ms(0); 00079 Drive_pin_D.period_ms(PW_Period); 00080 Drive_pin_D.pulsewidth_ms(0); 00081 00082 } 00083
Generated on Sun Aug 7 2022 12:36:41 by 1.7.2