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car
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main.cpp
- Committer:
- glintligo
- Date:
- 2018-06-03
- Revision:
- 10:80ccb0dc0784
- Parent:
- 9:238780dda8af
File content as of revision 10:80ccb0dc0784:
/*----------------------------------------------------- File Name : main.cpp Purpose : For esp8266 mbed porting Creation Date : 22-06-2017 Last Modified : Created By : Jeasine Ma [jeasinema[at]gmail[dot]com] -----------------------------------------------------*/ #include <cstdarg> #include <cstring> #include "mbed.h" #include "esp8266.h" Serial ser2usb(PA_2, PA_3, 115200); DigitalIn ref(PA_12); DigitalOut LED(PC_13); DigitalOut IN1(PB_4); DigitalOut IN2(PB_3); DigitalOut IN3(PA_15); DigitalOut IN4(PA_12); PwmOut ENA(PB_1); PwmOut ENB(PB_0); InterruptIn switch1(PB_6); int state = 0; int actionok = 0; void run_forwoard(); void run_backwoard(); void stop(); void init(); int main(void) { IN1 = 0; IN2 = 0; IN3 = 0; IN4 = 0; ENA.period_ms(10); ENB.period_ms(10); ENA.pulsewidth_ms(3); ENB.pulsewidth_ms(3); ser2usb.printf("starting\r\n"); // 选定与 esp8266 相连接的串口,WiFi 名称和密码 Esp8266 client(PA_9, PA_10, "iot_b827ebd838be", "ab087c9e");// 参数分别为 TX pin / RX pin / SSID / Password //声明所有的传感器,每行一个,每个由名字、单位两部分组成,最后一行必须为空指针作为结尾 const char* sensors[][2] = { "actionok", "", NULL, NULL //最后一行以空指针作为结束标记 }; //声明所有的执行器,每行一个,每个由名字、参数类型两部分组成,最后一行必须为空指针作为结尾 const char* actuators[][2] = { "do", "int", NULL, NULL //最后一行以空指针作为结束标记 }; ser2usb.printf("connecting...\r\n"); //连接到服务器 client.connect_mqtt_broker("192.168.12.1", "car", sensors, actuators); ser2usb.printf("Initialization done.\r\n"); char actuator_name[32], control_value[32]; // bool ref_last; // float last_report=0; Timer t;// 定时器用于计量发送传感器数据的时间 t.start(); switch1.rise(&init); while(1) { //检查有没有收到新的执行器控制指令 if(client.get_control_cmd(actuator_name, control_value)){ ser2usb.printf("Received CMD %s %s\r\n", actuator_name, control_value); //判断哪个执行器收到命令 state = atoi(control_value); switch (state) { case 0: run_backwoard(); break; case 1: // white to black run_forwoard(); wait(0.2); stop(); actionok = 1; break; case 2: //black to robo run_forwoard(); break; case 3: //robo to white run_backwoard(); break; case 4: //robo to black run_backwoard(); break; case 5: //white to robo run_forwoard(); break; case 6: //black to white run_backwoard(); wait(0.2); stop(); actionok = 1; break; default: break; } } if (actionok ==1) { client.publish_value("actionok", "0"); actionok = 0; } // bool reflection = ref; // if(reflection != ref_last){ //仅在传感器发生变化时汇报数据 // // ref_last = reflection; // // char val[4]; // sprintf(val, "%d", (int)reflection); // // //汇报传感器数据,两个参数分别是传感器名字和值 // client.publish_value("reflection", val); // } // // if(t.read() - last_report > 1){ // 每1s发送汇报一次传感器数据 // // //汇报传感器数据,两个参数分别是传感器名字和值 // //client.publish_value("light", "30 lx"); // // last_report = t.read(); // } } } void run_forwoard() { IN1 = 1; IN2 = 0; IN3 = 0; IN4 = 1; } void run_backwoard() { IN1 = 0; IN2 = 1; IN3 = 1; IN4 = 0; } void stop() { IN1 = 0; IN2 = 0; IN3 = 0; IN4 = 0; } void init() { wait(0.01); if(switch1.read() == 1) { switch (state) { case 0: stop(); wait(0.01); run_forwoard(); wait(0.1); stop(); actionok = 1; break; case 2: stop(); wait(0.01); run_backwoard(); wait(0.1); stop(); actionok = 1; break; case 3: stop(); wait(0.01); run_forwoard(); wait(0.1); stop(); actionok = 1; break; case 4: stop(); wait(0.01); run_forwoard(); wait(0.5); stop(); actionok = 1; break; case 5: stop(); wait(0.01); run_backwoard(); wait(0.1); stop(); actionok = 1; break; default: break; } } }