Josh Williams
/
final_project
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Dependencies: HC_SR04_Ultrasonic_Library Motor mbed-rtos mbed
Revision 0:164e6ba069a9, committed 2017-05-01
- Comitter:
- juubs
- Date:
- Mon May 01 03:20:11 2017 +0000
- Commit message:
- ECE 4180 final project mbed code
Changed in this revision
diff -r 000000000000 -r 164e6ba069a9 HC_SR04_Ultrasonic_Library.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HC_SR04_Ultrasonic_Library.lib Mon May 01 03:20:11 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/ejteb/code/HC_SR04_Ultrasonic_Library/#e0f9c9fb4cf3
diff -r 000000000000 -r 164e6ba069a9 Motor.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Mon May 01 03:20:11 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/simon/code/Motor/#f265e441bcd9
diff -r 000000000000 -r 164e6ba069a9 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon May 01 03:20:11 2017 +0000
@@ -0,0 +1,75 @@
+// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+#include "mbed.h"
+#include "ultrasonic.h"
+#include "Motor.h"
+#include "rtos.h"
+
+Serial pc(USBTX, USBRX);
+Motor leftWheel(p21, p20, p19);
+Motor rightWheel(p22, p15, p14); // pwm, fwd, rev
+float speed = 0.5;
+char input;
+
+void dist(int distance) {
+ //pc.printf("Distance %d mm\r\n", distance);
+ if (distance < 200) {
+ leftWheel.speed(0);
+ rightWheel.speed(0);
+ }
+}
+
+ultrasonic sonar(p6, p7, .1, 1, &dist);
+
+void motor_thread(void const *args) {
+ while(1) {
+ if (pc.readable()) {
+ input = pc.getc();
+
+ switch (input) {
+ case 'f':
+ leftWheel.speed(speed);
+ rightWheel.speed(speed);
+ break;
+
+ case 'b':
+ leftWheel.speed(-1 * speed);
+ rightWheel.speed(-1 * speed);
+ break;
+
+ case 'l':
+ leftWheel.speed(-.4);
+ rightWheel.speed( .4);
+ wait(1.1); //Turn left 90deg
+ leftWheel.speed(0);
+ rightWheel.speed(0);
+ break;
+
+ case 'r':
+ leftWheel.speed(.4);
+ rightWheel.speed(-.4);
+ wait(1.1); //Turn right 90deg
+ leftWheel.speed(0);
+ rightWheel.speed(0);
+ break;
+
+ case 's':
+ leftWheel.speed(0);
+ rightWheel.speed(0);
+ break;
+
+ default:
+ break;
+ }
+ }
+ }
+}
+
+int main() {
+ pc.baud(115200);
+ pc.printf("hello\n");
+ Thread motor_t(motor_thread);
+ sonar.startUpdates();
+ while(1) {
+ sonar.checkDistance();
+ }
+}
diff -r 000000000000 -r 164e6ba069a9 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Mon May 01 03:20:11 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed-rtos/#58563e6cba1e
diff -r 000000000000 -r 164e6ba069a9 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon May 01 03:20:11 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed/builds/97feb9bacc10 \ No newline at end of file