main.cpp

00001 #include "mbed.h"
00002 #include "Adb.h"
00003 #include <TextLCD.h>
00004 TextLCD lcd(p11, p12, p27, p28, p29, p30);
00005 Connection * connection;
00006 
00007 Serial pc(USBTX, USBRX);
00008 PwmOut servo1(p26);
00009 PwmOut servo2(p25);
00010 DigitalIn sw1(p13);
00011 DigitalOut led(LED1);
00012 
00013 void adbEventHandler(Connection * connection, adb_eventType event, uint16_t length, uint8_t * data)
00014 {
00015     if (event == ADB_CONNECTION_RECEIVE)
00016     {
00017         printf("[ADB RECV]:%d   %d\r\n",data[0],data[1]);
00018         float val = ((float)data[0] * 5.5) + 1000.0;
00019         servo1.pulsewidth_us(val);
00020         val = ((float)data[1] * 5.5) + 1000.0;
00021         servo2.pulsewidth_us(val);
00022     }
00023 }
00024 
00025 int main()
00026 {
00027     int now=0,old;
00028     unsigned short data = 0;
00029     
00030     pc.baud(115200);
00031     servo1.period_us(20000);
00032     servo2.period_us(20000);
00033     sw1.mode(PullUp);
00034     
00035     
00036     // Initialise the ADB subsystem.  
00037     ADB::init();
00038     // Open an ADB stream to the phone's shell. Auto-reconnect
00039     connection = ADB::addConnection("tcp:4567", true, adbEventHandler);
00040     
00041     while(1)
00042     {
00043     
00044         ADB::poll();
00045         
00046         lcd.locate(0, 0);
00047         lcd.printf("MicroBridge Test");
00048         
00049         old = now;
00050         now = sw1;
00051         if((now == 1)&&(old==0))
00052         {
00053             printf("down key\r\n");
00054             connection->write(2, (unsigned char*)&data);
00055             lcd.locate(0, 1);
00056             lcd.printf("COUNT = %d",data);
00057 
00058             data++;
00059         }
00060         led = sw1;
00061     }
00062 }