Diff: main.cpp

Revision:

0:0a1680d44129

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 30 13:41:03 2013 +0000
@@ -0,0 +1,88 @@
+
+#include "mbed.h"
+Serial pc(USBTX, USBRX);
+Serial device(p28, p27);
+DigitalOut m11(p21);
+DigitalOut m12(p22);
+DigitalOut relay_stepper(p23);
+DigitalOut stepper1(p24);
+DigitalOut stepper2(p23);
+DigitalOut laser(p25);
+int frame1,frame2,frame3,temp;
+
+int main() {laser=0;
+    char temp=NULL;
+    stepper1=0;
+                     stepper2=0;
+                   
+    device.baud(2400);
+    
+    while (1) {
+   
+                   //RF Receive Code
+                    if (device.readable()) {
+                        temp=device.getc();
+                      
+                        frame1=temp%4;
+                        temp=temp/4;
+                        frame2=temp%4;
+                      
+                        frame3=temp/4;
+                   //pc.printf("\n\r%d %d %d %d %d",temp,frame1,frame2,frame3,x);
+                   
+                    switch(frame1)
+                    {
+                    case 0:  //left
+                    m11=0;               // right motor on(p21) 
+                    m12=1;               // left motor off(p22)
+                    break;
+                    
+                    case 1:   // straight
+                    m11=0;               // right motor on(p21)
+                    m12=0;               // left motor on(p22)
+                    break;
+                    
+                    case 2:   // right
+                    m11=1;               // right motor off(p21)
+                    m12=0;               // left motor on(p22)
+                    break;
+                    }
+                  switch(frame2)
+                    {
+                    case 0:  //left
+                   relay_stepper=!relay_stepper
+                    break;
+                    case 1:   // right
+                    break;
+                    case 2:
+                     stepper1=!stepper1;
+                     stepper2=!stepper2;
+                    break;
+  
+                    }
+                    switch(frame3)
+                    {
+                    case 0:  //left
+                    m11=1;
+                    m12=1;
+                    laser=0;
+                    break;
+                  
+                    case 1:   // right
+                    m11=1;
+                    m12=1;
+                    laser=1;
+                   break;
+                   
+                    case 2:
+                    laser=0;
+                    break;
+                   
+                    case 3:
+                    laser=1;
+                    break;
+          }
+       }
+       pc.printf("\n\n\r%d %d %d",frame1,frame2,frame3);
+    }
+}
\ No newline at end of file