Diff: main.cpp

Revision:

0:1cc4593f62e2

Child:

1:0a67babd7786

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Dec 10 10:58:29 2011 +0000
@@ -0,0 +1,173 @@
+#include "include_file.h"
+
+int main( int argc, char **argv )
+{
+    char key;
+    float d = 0.5;
+    int width,height,color;
+    
+    device.baud( 115200 );
+    right_pwm.period_us( 10 );
+    left_pwm.period_us( 10 );
+    enable.write( 1 );
+    
+  //  device.putc('s');$$$
+    
+    device.printf("f:forward, b:back, r:turn_right\n"
+                  "l:turn_left, a:duty+=0.01, m:duty-=0.01\n");
+                  
+    width = 0;
+    
+    
+    
+    
+    
+    
+ //testing area 
+wait( 5 );
+
+//   while( 1 )
+//   {
+       ++width;
+       device.printf("%d\n",width);
+       if(width==255) width = 0;
+       wait_ms( 50 );
+//   }
+ 
+ 
+   int frame[200][200][3];
+
+   for(int i=0; i<200; i++)
+   {
+       for(int j=0; j<200; j++)
+       {
+           frame[i][j][0] = 100;
+           frame[i][j][1] = 100;
+           frame[i][j][2] = 100;
+       }
+   }    
+ 
+    while(1)
+    {       
+       for(int i=0; i<200; i++)
+       {
+           for(int j=0; j<200; j++)
+           {
+               device.printf("%d\n",frame[i][j][0]);
+
+               wait_ms( 50 );
+           }
+       }
+    }
+
+   
+
+   
+   
+/*
+   device.printf("s");  //start chara
+   for(int i=0; i<200; i++)
+   {
+       for(int j=0; j<200; j++)
+       {
+            device.printf("%d\n",frame[i][j][0]);
+       }
+       device.printf("h");  //horizontal transition
+   }
+   device.printf("e");  //vertical end
+ */  
+ //testing area       
+
+  
+  while(1)
+  {
+        key = device.getc();
+        switch( key )
+        {
+            case 'f':
+                move_f( d );
+                break;
+            case 'b':
+                move_b( d );
+                break;
+            case 'r':
+                turn_r( d );
+                break;
+            case 'l':
+                turn_l( d );
+                break;
+            case 's':
+                stop();
+                break;
+            case 'a':
+                d += 0.01;
+                break;
+            case 'm':
+                d -= 0.01;
+                break;
+            default:
+                break;
+        }
+       
+//        device.printf("duty = %1.2f\r", d);
+        
+    }   
+}
+
+void move_f( float d )
+{
+    right_P.write( 0 );
+    right_N.write( 1 );
+    left_P.write( 1 );
+    left_N.write( 0 );
+    right_pwm.write( d );
+    left_pwm.write( d );
+    /*right_pwm.pulsewidth_us( d );
+    left_pwm.pulsewidth_us( d );*/
+}
+
+void move_b( float d )
+{
+    right_P.write( 1 );
+    right_N.write( 0 );
+    left_P.write( 0 );
+    left_N.write( 1 );
+    right_pwm.write( d );
+    left_pwm.write( d );
+    /*right_pwm.pulsewidth_us( d );
+    left_pwm.pulsewidth_us( d );*/
+}
+
+void turn_r( float d )
+{
+    right_P.write( 0 );
+    right_N.write( 1 );
+    left_P.write( 0 );
+    left_N.write( 1 );
+    right_pwm.write( d );
+    left_pwm.write( d );
+    /*right_pwm.pulsewidth_us( d );
+    left_pwm.pulsewidth_us( d );*/
+}
+
+void turn_l( float d )
+{
+    right_P.write( 1 );
+    right_N.write( 0 );
+    left_P.write( 1 );
+    left_N.write( 0 );
+    right_pwm.write( d );
+    left_pwm.write( d );
+    /*right_pwm.pulsewidth_us( d );
+    left_pwm.pulsewidth_us( d );*/
+}
+
+void stop( void )
+{
+    right_P.write( 0 );
+    right_N.write( 0 );
+    left_P.write( 0 );
+    left_N.write( 0 );
+    right_pwm.write( 0 );
+    left_pwm.write( 0 );
+}
\ No newline at end of file