Blue_tooth robot
Dependencies: Motordriver mbed
main.cpp
- Committer:
- hydrogencellman
- Date:
- 2014-10-18
- Revision:
- 0:fe149d61023e
File content as of revision 0:fe149d61023e:
#include "mbed.h" #include "motordriver.h" Serial pc(USBTX, USBRX); Serial device(p9, p10); //Connect JY-MCU bluetooth module to 9,10 Motor right(p21, p22, p23, 1); // pwm, fwd, rev, has brake feature Motor left(p26, p25, p24, 1); float speed; int main() { unsigned char Instr;//What button was sent? 1 = forward, 2 = backward unsigned char sentSpeed; //What is the slider set to? device.baud(57600); while(1) { if(device.readable()) { Instr = device.getc(); pc.printf("Instruction: %i\n\r", Instr); wait(.05);//Wait for the next bluetooth value to be recieved. if(device.readable()){ sentSpeed = device.getc(); switch (Instr){ case 0://Stop left.speed(0); right.speed(0); break; case 1://Forward pc.printf("Speed: %i\n\r", sentSpeed); speed = float(sentSpeed) / 100; left.speed(speed); right.speed(speed); break; case 2://Reverse pc.printf("Reverse speed: %i\n\r", sentSpeed); speed = -float(sentSpeed) / 100; left.speed(speed); right.speed(speed); break; case 3://Clockwise Turn speed = float(sentSpeed) / 100; left.speed(speed); right.speed(-speed); break; case 4://CCW Turn speed = float(sentSpeed) / 100; left.speed(-speed); right.speed(speed); break; }//End Switch }//End Speed Read }//End Instruction Read } }