Diff: main.cpp

Revision:

0:146e770d8ab8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 24 03:50:45 2017 +0000
@@ -0,0 +1,132 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "Motor.h"
+
+
+Serial blue(p28,p27);
+
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+Motor propel(p22, p13, p14);
+
+Servo turn(p23);
+Servo lift(p25);
+
+int main()
+{
+    char bnum=0;
+    char bhit=0;
+    
+        //calibrating
+        lift = 0;
+        wait(0.5);        
+        lift = 1;
+        wait(10);
+        lift = 0;
+        wait(10);
+        
+        
+        turn =0.5;
+        lift = 0;
+        
+    
+    
+    
+    while(1) {
+        led1 = 1;
+        if (blue.getc()=='!') {
+            if (blue.getc()=='B') { //button data packet
+                bnum = blue.getc(); //button number
+                bhit = blue.getc(); //1=hit, 0=release
+                if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
+                    
+                    switch (bnum) {
+                        case '1': //number button 1
+                            if (bhit=='1') {
+                                //add hit code here
+                            } else {
+                                //add release code here
+                            }
+                            break;
+                        case '2': //number button 2
+                            if (bhit=='1') {
+                                propel.speed(1);//add hit code here
+                            } else {
+                                propel.speed(0);//add release code here
+                            }
+                            break;
+                        case '3': //number button 3
+                            if (bhit=='1') {
+                                //add hit code here
+                            } else {
+                                //add release code here
+                            }
+                            break;
+                        case '4': //number button 4
+                            if (bhit=='1') {
+                                propel.speed(-1);//add hit code here
+                            } else {
+                                propel.speed(0);//add release code here
+                            }
+                            break;
+                        case '5': //button 5 up arrow
+                            if (bhit=='1') {
+                                lift = 0.2;
+                                wait(2);
+                                lift = 0.4;
+                                wait(2);
+                                lift = 0.45;
+                                wait(2);
+                                lift = 0.6;
+                                wait(2);
+                                lift = 0.7;
+                                wait(2);
+                                lift = 0.8;
+                                wait(2);
+                                lift = 0.9;
+                                wait(2);
+                                lift= 1;
+                                
+                                
+                                
+                                
+                                
+                            } else {
+                               //lift = 0.5;//add release code here
+                            }
+                            break;
+                        case '6': //button 6 down arrow
+                            if (bhit=='1') {
+                                lift = 0;//add hit code here
+                            } else {
+                                lift = 0;//add release code here
+                            }
+                            break;
+                        case '7': //button 7 left arrow
+                            if (bhit=='1') {
+                                
+                                turn = 1;//add hit code here
+                            } else {
+                                turn = 0.5;//add release code here
+                            }
+                            break;
+                        case '8': //button 8 right arrow
+                            if (bhit=='1') {
+                                
+                                turn = 0;//add hit code here
+                            } else {
+                                turn = 0.5;//add release code here
+                            }
+                            break;
+                        default:
+                            break;
+                    }
+                }
+            }
+        }
+    }
+}
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