Diff: main.cpp

Revision:

1:29eeaabaa8e1

Parent:

0:341347d8ccbc

Child:

2:d8db9db36fb7

--- a/main.cpp	Wed Oct 15 15:09:43 2014 +0000
+++ b/main.cpp	Fri Oct 17 15:20:32 2014 +0000
@@ -1,22 +1,19 @@
 #include "mbed.h"
+#include "echo_sensor.h"
 
-#define trigPin_  PTC11
-#define echoPin_  PTC12
-#define volt_Pin_ PTB11
 #define LM1_ D3
-#define LM2_ D5
+#define LM2_ D7
 #define RM1_ D6
-#define RM2_ D7
+#define RM2_ D5
 #define RX_  D0
 #define TX_  D1
-#define SPEED_ 64
 
 PwmOut LM1(LM1_); // motors configuration
 PwmOut LM2(LM2_);
 PwmOut RM1(RM1_);
 PwmOut RM2(LM2_);
 
-//Serial link(TX_, RX_); // bluetooth serial port
+//Serial link(TX_, RX_);   // bluetooth serial port
 Serial link(USBTX, USBRX); // usb serial port
  
 void analogWrite(mbed::PwmOut *prt, char spd) // write to PWM
@@ -58,23 +55,6 @@
   analogWrite(&RM2,0);
 }
 
-/*int getEcho(void) // for a future...
-{
-  long duration, distance;
-  digitalWrite(trigPin,LOW);
-  delayMicroseconds(2000);
-  digitalWrite(trigPin, HIGH);
-  delayMicroseconds(1000);
-  digitalWrite(trigPin, LOW);
-  
-  duration = pulseIn(echoPin, HIGH);
-  distance = (duration/2) / 29.1;
-  
-  if (distance > 200) return 200;
-  if (distance < 0) return 0;
-  return distance;
-}*/
-
 int charToInt(char a, char b, char c)
 {
   int ans;
@@ -116,8 +96,7 @@
 {
    char dat[5], b, i;
    link.baud(9600);
-   //pinMode(trigPin, OUTPUT); // for a future...
-   //pinMode(echoPin, INPUT);
+   initEcho();   // initialize echo sensor
    GoForward(0); // stop all motors
 
    while (link.readable());    // trying to fount the starting byte
@@ -135,21 +114,16 @@
    
      int spd = charToInt(dat[1],dat[2],dat[3]);
    
-     if (b == 'F') GoForward(spd);
+     if (b == 'F') GoForward(spd); // movements
      if (b == 'B') GoBack(spd);
      if (b == 'R') TurnRight(spd);
      if (b == 'L') TurnLeft(spd);
      if (b == 'N') GoForward(0);
    
-     if (b == 'V') // voltmeter
-     {
-       //intToChar(analogRead(volt_Pin) / 4); // for a future...
-       //Bridge.put("DAT",str);
-     }
      if (b == 'E') // echo sensor
      {
-       //intToChar(getEcho()); // for a future...
-       //Bridge.put("DAT",str);
+       intToChar(getEcho());
+       link.printf(str);
      }
    }
 }
\ No newline at end of file