Peter Mei
/
4180DP-Controller
controeller
main.cpp@0:dd5abbae53b7, 2017-04-21 (annotated)
- Committer:
- iemretep
- Date:
- Fri Apr 21 04:04:25 2017 +0000
- Revision:
- 0:dd5abbae53b7
controller;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
iemretep | 0:dd5abbae53b7 | 1 | #include "mbed.h" |
iemretep | 0:dd5abbae53b7 | 2 | #include "Motor.h" |
iemretep | 0:dd5abbae53b7 | 3 | |
iemretep | 0:dd5abbae53b7 | 4 | //Sends joystick positions to robot |
iemretep | 0:dd5abbae53b7 | 5 | |
iemretep | 0:dd5abbae53b7 | 6 | DigitalOut led1(LED1); |
iemretep | 0:dd5abbae53b7 | 7 | DigitalOut led2(LED2); |
iemretep | 0:dd5abbae53b7 | 8 | DigitalOut led3(LED3); |
iemretep | 0:dd5abbae53b7 | 9 | DigitalOut led4(LED4); |
iemretep | 0:dd5abbae53b7 | 10 | |
iemretep | 0:dd5abbae53b7 | 11 | AnalogIn jx1(p17); |
iemretep | 0:dd5abbae53b7 | 12 | AnalogIn jy1(p18); |
iemretep | 0:dd5abbae53b7 | 13 | AnalogIn jx2(p19); |
iemretep | 0:dd5abbae53b7 | 14 | AnalogIn jy2(p20); |
iemretep | 0:dd5abbae53b7 | 15 | |
iemretep | 0:dd5abbae53b7 | 16 | Serial rpi(p9,p10); |
iemretep | 0:dd5abbae53b7 | 17 | |
iemretep | 0:dd5abbae53b7 | 18 | int main() |
iemretep | 0:dd5abbae53b7 | 19 | { |
iemretep | 0:dd5abbae53b7 | 20 | rpi.baud(9600); |
iemretep | 0:dd5abbae53b7 | 21 | |
iemretep | 0:dd5abbae53b7 | 22 | while(1) { |
iemretep | 0:dd5abbae53b7 | 23 | float x1_robot = 2*jx1-1; |
iemretep | 0:dd5abbae53b7 | 24 | float y1_robot = 2*jy1-1; |
iemretep | 0:dd5abbae53b7 | 25 | float x2_camera = 2*jx2-1; |
iemretep | 0:dd5abbae53b7 | 26 | float y2_camera = 2*jy2-1; |
iemretep | 0:dd5abbae53b7 | 27 | |
iemretep | 0:dd5abbae53b7 | 28 | x1_robot = x2_camera; |
iemretep | 0:dd5abbae53b7 | 29 | y1_robot = y2_camera; |
iemretep | 0:dd5abbae53b7 | 30 | |
iemretep | 0:dd5abbae53b7 | 31 | rpi.printf("%f %f %f %f\r", x1_robot, y1_robot, x2_camera, y2_camera); |
iemretep | 0:dd5abbae53b7 | 32 | |
iemretep | 0:dd5abbae53b7 | 33 | } |
iemretep | 0:dd5abbae53b7 | 34 | } |