d
Dependencies: Motor Servo mbed
Diff: main.cpp
- Revision:
- 0:1f5a1332637b
diff -r 000000000000 -r 1f5a1332637b main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Apr 21 04:03:52 2017 +0000 @@ -0,0 +1,50 @@ +#include "mbed.h" +#include "Motor.h" +#include "Servo.h" +//Reads in joystick positions from controller and drives the motors. + +DigitalOut led1(LED1); +DigitalOut led2(LED2); +DigitalOut led3(LED3); +DigitalOut led4(LED4); + +AnalogIn jx1(p16); +AnalogIn jy1(p15); +//AnalogIn jx2 +//AnalogIn jy2 +float mot_x = 0.5; +float mot_y = 0.5; +float cam_x = 0; +float cam_y = 0; + +char buf[32]; +int idx = 0; + +Serial pc(p9,p10); +//Serial pc(USBTX, USBRX); + +Motor A(p21, p20, p19); //pwm, inB, inA +Motor B(p22, p17, p12); //pwm, inA, inB + + +int main() +{ + pc.baud(115200); + while(1) { + int x = pc.getc(); + + if(x == -1) continue; + + //while(!pc.readable()); + buf[idx] = (char)x; + + if(buf[idx] == '\r' || buf[idx] == '\n'){ + sscanf(buf, "%f %f %f %f", &mot_x, &mot_y, &cam_x, &cam_y); + A.speed(mot_x); + B.speed(mot_y); + idx = 0; + }else{ + idx++; + } + } +} \ No newline at end of file