Jon Marsh
Testcode for LVC Robot club
main.cpp@1:fe52aa73cd6a, 2012-04-23 (annotated)
- Committer:
- jonmarsh
- Date:
- Mon Apr 23 09:32:50 2012 +0000
- Revision:
- 1:fe52aa73cd6a
- Parent:
- 0:f4922a2a0292
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| jonmarsh | 0:f4922a2a0292 | 1 | /** |
| jonmarsh | 1:fe52aa73cd6a | 2 | |
| jonmarsh | 0:f4922a2a0292 | 3 | Description: |
| jonmarsh | 0:f4922a2a0292 | 4 | |
| jonmarsh | 1:fe52aa73cd6a | 5 | This program uses a Sharp Digital Distance sensor (GP2Y0D810) attached to pin 30 and 11 |
| jonmarsh | 1:fe52aa73cd6a | 6 | (the two headers on the right and left of the board). |
| jonmarsh | 0:f4922a2a0292 | 7 | |
| jonmarsh | 0:f4922a2a0292 | 8 | |
| jonmarsh | 0:f4922a2a0292 | 9 | **/ |
| jonmarsh | 0:f4922a2a0292 | 10 | |
| jonmarsh | 0:f4922a2a0292 | 11 | #include "mbed.h" |
| jonmarsh | 0:f4922a2a0292 | 12 | #include "SharpDigiDist100.h" |
| jonmarsh | 0:f4922a2a0292 | 13 | #include "m3pi.h" |
| jonmarsh | 0:f4922a2a0292 | 14 | |
| jonmarsh | 0:f4922a2a0292 | 15 | DigitalOut Left[2] = {LED1,LED2}; //Some indicator LEDs for the range finders |
| jonmarsh | 0:f4922a2a0292 | 16 | DigitalOut Right[2] = {LED4,LED3}; |
| jonmarsh | 0:f4922a2a0292 | 17 | |
| jonmarsh | 0:f4922a2a0292 | 18 | SharpDigiDist100 right(p30); // The range finder class initialisations |
| jonmarsh | 0:f4922a2a0292 | 19 | SharpDigiDist100 left(p11); |
| jonmarsh | 0:f4922a2a0292 | 20 | |
| jonmarsh | 0:f4922a2a0292 | 21 | m3pi m3pi; // Initialise the m3pi |
| jonmarsh | 0:f4922a2a0292 | 22 | |
| jonmarsh | 0:f4922a2a0292 | 23 | |
| jonmarsh | 0:f4922a2a0292 | 24 | int main() { |
| jonmarsh | 0:f4922a2a0292 | 25 | |
| jonmarsh | 0:f4922a2a0292 | 26 | m3pi.locate(0,0); // Write the name to the screen |
| jonmarsh | 1:fe52aa73cd6a | 27 | m3pi.printf("Sonar"); |
| jonmarsh | 0:f4922a2a0292 | 28 | |
| jonmarsh | 1:fe52aa73cd6a | 29 | // m3pi.get_white_levels(); // Saves the current levels of the sensors to know what is white |
| jonmarsh | 0:f4922a2a0292 | 30 | |
| jonmarsh | 0:f4922a2a0292 | 31 | while (1) { |
| jonmarsh | 1:fe52aa73cd6a | 32 | |
| jonmarsh | 1:fe52aa73cd6a | 33 | // This tells it what to do when it detects something on the right-hand sensor |
| jonmarsh | 1:fe52aa73cd6a | 34 | |
| jonmarsh | 0:f4922a2a0292 | 35 | switch (right.getDistance()) { // Sets up the distance indicator LEDs for the right side |
| jonmarsh | 0:f4922a2a0292 | 36 | case SharpDigiDist100::Far : |
| jonmarsh | 0:f4922a2a0292 | 37 | Right[0] = true; |
| jonmarsh | 0:f4922a2a0292 | 38 | Right[1] = false; |
| jonmarsh | 0:f4922a2a0292 | 39 | break; |
| jonmarsh | 0:f4922a2a0292 | 40 | case SharpDigiDist100::Near : |
| jonmarsh | 0:f4922a2a0292 | 41 | Right[1] = true; |
| jonmarsh | 0:f4922a2a0292 | 42 | Right[0] = false; |
| jonmarsh | 0:f4922a2a0292 | 43 | break; |
| jonmarsh | 0:f4922a2a0292 | 44 | case SharpDigiDist100::Mid : |
| jonmarsh | 0:f4922a2a0292 | 45 | Right[0] = true; |
| jonmarsh | 0:f4922a2a0292 | 46 | Right[1] = true; |
| jonmarsh | 0:f4922a2a0292 | 47 | break; |
| jonmarsh | 0:f4922a2a0292 | 48 | default: |
| jonmarsh | 0:f4922a2a0292 | 49 | break; |
| jonmarsh | 0:f4922a2a0292 | 50 | } |
| jonmarsh | 1:fe52aa73cd6a | 51 | |
| jonmarsh | 1:fe52aa73cd6a | 52 | // This tells it what to do when it detects something on the left-hand sensor |
| jonmarsh | 1:fe52aa73cd6a | 53 | |
| jonmarsh | 0:f4922a2a0292 | 54 | switch (left.getDistance()) { // Sets up the distance indicator LEDs for the left side |
| jonmarsh | 0:f4922a2a0292 | 55 | case SharpDigiDist100::Far : |
| jonmarsh | 0:f4922a2a0292 | 56 | Left[0] = true; |
| jonmarsh | 0:f4922a2a0292 | 57 | Left[1] = false; |
| jonmarsh | 0:f4922a2a0292 | 58 | break; |
| jonmarsh | 0:f4922a2a0292 | 59 | case SharpDigiDist100::Near : |
| jonmarsh | 0:f4922a2a0292 | 60 | Left[1] = true; |
| jonmarsh | 0:f4922a2a0292 | 61 | Left[0] = false; |
| jonmarsh | 0:f4922a2a0292 | 62 | break; |
| jonmarsh | 0:f4922a2a0292 | 63 | case SharpDigiDist100::Mid : |
| jonmarsh | 0:f4922a2a0292 | 64 | Left[0] = true; |
| jonmarsh | 0:f4922a2a0292 | 65 | Left[1] = true; |
| jonmarsh | 0:f4922a2a0292 | 66 | break; |
| jonmarsh | 0:f4922a2a0292 | 67 | default: |
| jonmarsh | 0:f4922a2a0292 | 68 | break; |
| jonmarsh | 0:f4922a2a0292 | 69 | } |
| jonmarsh | 0:f4922a2a0292 | 70 | |
| jonmarsh | 0:f4922a2a0292 | 71 | } |
| jonmarsh | 0:f4922a2a0292 | 72 | } |