Diff: main.cpp

Revision:

0:79485480cd7e

Child:

1:3bae10d2507c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Nov 13 23:20:02 2014 +0000
@@ -0,0 +1,64 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "Traxster.h"
+#include "USBHostXpad.h"
+#include "utils.h"
+#include "Audio.h"
+
+Serial pc(USBTX, USBRX);
+Serial robotCom(p13, p14);
+AnalogIn ir(p20);
+Speaker speaker(p18);  // the pin must be the AnalogOut pin - p18
+
+
+Audio audio(speaker);
+USBHostXpad controller;
+Xbox360ControllerState controlState;
+Traxster tank(robotCom);
+
+
+
+void onControlInput(int buttons, int stick_lx, int stick_ly, int stick_rx, int stick_ry, int trigger_l, int trigger_r){
+    pc.printf("buttons: %04x   Lstick X,Y: %-5d, %-5d    Rstick X,Y: %-5d, %-5d   LTrig: %02x (%d)    RTrig: %02x (%d)\n", buttons, stick_lx, stick_ly, stick_rx, stick_ry, trigger_l,trigger_l, trigger_r,trigger_r);
+    controlState = Xbox360ControllerState(buttons, stick_lx, stick_ly, stick_rx, stick_ry, trigger_l, trigger_r);
+};
+
+void thread_audio_run(void const* arg){
+    audio.run();
+}
+
+int main() {
+    pc.baud(19200);
+    
+    controller.attachEvent(&onControlInput);
+    
+    Thread audio_thread(thread_audio_run);
+    
+    audio.playMario();
+    
+    while(1){
+        //acts as a failsafe
+        while(controller.connected()) {
+            if(ir > 0.5){
+                controller.rumble(255,255);
+            }
+            if( controller.read(USBHostXpad::XPAD_PAD_Y) ) {
+                controller.led( USBHostXpad::LED_ROTATE );   
+            } else {
+                controller.led( USBHostXpad::LED_OFF ); 
+            }
+            if(controlState.triggerRight > 0){
+                controller.rumble(255,255);
+            }
+           
+            if( controller.read(USBHostXpad::XPAD_PAD_X) ) {
+                tank.SetMotors(1.0,1.0);
+            } else {
+                tank.SetMotors(0.0,0.0);    //stop, wait for controller to reconnect for a second.   
+            }
+        }
+        tank.SetMotors(0.0,0.0);    //stop, wait for controller to reconnect for a second.
+        Thread::wait(500);
+        controller.connect();
+    }
+}