main.cpp

00001 /*******************************************************************************
00002 * This program demonstrates how to drive the seven segment display             *
00003 *                                                                              *
00004 * Jon Fuge                                                                     *
00005 * V1.0 24/12/2013 First issue of code                                          *
00006 *******************************************************************************/
00007 
00008 #include "mbed.h"
00009 #include "SevenSegmentDisplay.h"
00010 #include "MotorController.h"
00011 
00012 uint16_t u16LeftSpeed = 0, u16RightSpeed = 0;
00013 
00014 // Options to instantiate SevenSegmentDisplay are...
00015 // FADE: causes the number changes to fade in smoothly
00016 // INSTANT: causes the an instant number change
00017 // + FLASH: causes the display to flash
00018 SevenSegmentDisplay segmentled( FADE );
00019 
00020 MotorController RenBuggy(p5, p7, p9, p6, p8, p10);
00021 DigitalIn LFast(p9), LSlow(p12), RFast(p15), RSlow(p18);
00022 
00023 void attimeout();            //declare prototype for timeout handler.
00024 
00025 Ticker timeout;             //Create an instance of class Ticker called timeout.
00026 
00027 int main()
00028 {
00029     LFast.mode(PullUp);
00030     LSlow.mode(PullUp);
00031     RFast.mode(PullUp);
00032     RSlow.mode(PullUp);
00033 
00034     timeout.attach(&attimeout, 3);
00035 //    LeftMotor.SetMotorPwmAndRevolutions(18000,32);
00036 
00037     RenBuggy.Forwards(100);
00038 
00039     for(;;) {
00040     } // Loop forever (the program uses interrupts)
00041 }
00042 
00043 void attimeout()
00044 {
00045     static int Flip = 0;
00046 
00047     if (Flip++ == 0)
00048         segmentled.DisplayInt(RenBuggy.ReadLeftOdometer());
00049     else
00050     {
00051         segmentled.DisplayInt(RenBuggy.ReadRightOdometer());
00052         Flip = 0;
00053     }
00054 }