main.cpp

00001 /* 3pi Lab 1 Example 2
00002 
00003 (c) Dr Craig A. Evans, University of Leeds
00004 
00005 June 2017
00006 
00007 */
00008 
00009 #include "mbed.h"
00010 #include "m3pi.h"
00011 
00012 // API objects
00013 m3pi robot;
00014 AnalogIn pot_P(p15);
00015 
00016 // Function Prototypes
00017 void init();
00018 
00019 // Main Function
00020 int main()
00021 {
00022     init();
00023     
00024     // move cursor to position (0,0) - top-left
00025     robot.lcd_goto_xy(0,0);
00026     robot.lcd_print("Lab 1",5); // 5 is number of characters in message (max 8)
00027     robot.lcd_goto_xy(0,1);
00028     robot.lcd_print("Task 2",6);
00029     
00030     // we will update the motors 100 times per second
00031     float dt = 1.0/100.0;
00032 
00033     // main loop - this runs forever
00034     while(1) {
00035 
00036         // this returns a value in the range 0.0 to 1.0
00037         float pot_P_val = pot_P.read();
00038         
00039         // change to -1.0 to 1.0
00040         float motor_speed = 2.0*pot_P_val-1.0;
00041         // this gives full-speed backward (-1.0) to full-speed forward
00042         
00043         // set the speed of the left and right motors
00044         robot.motors(motor_speed,motor_speed);
00045         
00046         // wait for a short time before repeating the loop
00047         wait(dt);
00048 
00049     }
00050 }
00051 
00052 // Functions
00053 void init()
00054 {
00055     robot.init();
00056 }