main.cpp

00001 /**
00002 * Copyright (c)2010 ARM Ltd.
00003 * Released under the MIT License: http://mbed.org/license/mit
00004 */
00005 #include "mbed.h"
00006 #include "SerialRPCInterface.h"
00007 #include "uLCD_4DGL.h"
00008 #include "Motor.h"
00009 
00010 Motor mr(p23, p19, p20); // pwm, fwd, rev
00011 Motor ml(p24, p21, p22); // pwm, fwd, rev 
00012 Serial pc(USBTX, USBRX);
00013 InterruptIn state(p11);
00014 float r;
00015 float l;
00016 RPCVariable<float> rpc_l(&l, "l");
00017 RPCVariable<float> rpc_r(&r, "r");
00018 
00019 using namespace mbed;
00020 
00021 //Create the interface on the USB Serial Port
00022 SerialRPCInterface RPC(p9, p10);
00023 
00024 void stop(){
00025     r = 0;
00026     l = 0;
00027 }
00028 
00029 int main() {
00030     r = 0;
00031     l = 0;
00032     
00033     state.fall(&stop);
00034     
00035     while(1) {
00036         mr.speed(r);
00037         ml.speed(l);
00038         pc.printf("Left:%f   Right:%f\n\r", l, r);
00039 
00040     }
00041 }