NITH ece
/
group3_reciever
reciever code
main.cpp@0:0a1680d44129, 2013-10-30 (annotated)
- Committer:
- kit2
- Date:
- Wed Oct 30 13:41:03 2013 +0000
- Revision:
- 0:0a1680d44129
group3_reciever
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kit2 | 0:0a1680d44129 | 1 | |
kit2 | 0:0a1680d44129 | 2 | #include "mbed.h" |
kit2 | 0:0a1680d44129 | 3 | Serial pc(USBTX, USBRX); |
kit2 | 0:0a1680d44129 | 4 | Serial device(p28, p27); |
kit2 | 0:0a1680d44129 | 5 | DigitalOut m11(p21); |
kit2 | 0:0a1680d44129 | 6 | DigitalOut m12(p22); |
kit2 | 0:0a1680d44129 | 7 | DigitalOut relay_stepper(p23); |
kit2 | 0:0a1680d44129 | 8 | DigitalOut stepper1(p24); |
kit2 | 0:0a1680d44129 | 9 | DigitalOut stepper2(p23); |
kit2 | 0:0a1680d44129 | 10 | DigitalOut laser(p25); |
kit2 | 0:0a1680d44129 | 11 | int frame1,frame2,frame3,temp; |
kit2 | 0:0a1680d44129 | 12 | |
kit2 | 0:0a1680d44129 | 13 | int main() {laser=0; |
kit2 | 0:0a1680d44129 | 14 | char temp=NULL; |
kit2 | 0:0a1680d44129 | 15 | stepper1=0; |
kit2 | 0:0a1680d44129 | 16 | stepper2=0; |
kit2 | 0:0a1680d44129 | 17 | |
kit2 | 0:0a1680d44129 | 18 | device.baud(2400); |
kit2 | 0:0a1680d44129 | 19 | |
kit2 | 0:0a1680d44129 | 20 | while (1) { |
kit2 | 0:0a1680d44129 | 21 | |
kit2 | 0:0a1680d44129 | 22 | //RF Receive Code |
kit2 | 0:0a1680d44129 | 23 | if (device.readable()) { |
kit2 | 0:0a1680d44129 | 24 | temp=device.getc(); |
kit2 | 0:0a1680d44129 | 25 | |
kit2 | 0:0a1680d44129 | 26 | frame1=temp%4; |
kit2 | 0:0a1680d44129 | 27 | temp=temp/4; |
kit2 | 0:0a1680d44129 | 28 | frame2=temp%4; |
kit2 | 0:0a1680d44129 | 29 | |
kit2 | 0:0a1680d44129 | 30 | frame3=temp/4; |
kit2 | 0:0a1680d44129 | 31 | //pc.printf("\n\r%d %d %d %d %d",temp,frame1,frame2,frame3,x); |
kit2 | 0:0a1680d44129 | 32 | |
kit2 | 0:0a1680d44129 | 33 | switch(frame1) |
kit2 | 0:0a1680d44129 | 34 | { |
kit2 | 0:0a1680d44129 | 35 | case 0: //left |
kit2 | 0:0a1680d44129 | 36 | m11=0; // right motor on(p21) |
kit2 | 0:0a1680d44129 | 37 | m12=1; // left motor off(p22) |
kit2 | 0:0a1680d44129 | 38 | break; |
kit2 | 0:0a1680d44129 | 39 | |
kit2 | 0:0a1680d44129 | 40 | case 1: // straight |
kit2 | 0:0a1680d44129 | 41 | m11=0; // right motor on(p21) |
kit2 | 0:0a1680d44129 | 42 | m12=0; // left motor on(p22) |
kit2 | 0:0a1680d44129 | 43 | break; |
kit2 | 0:0a1680d44129 | 44 | |
kit2 | 0:0a1680d44129 | 45 | case 2: // right |
kit2 | 0:0a1680d44129 | 46 | m11=1; // right motor off(p21) |
kit2 | 0:0a1680d44129 | 47 | m12=0; // left motor on(p22) |
kit2 | 0:0a1680d44129 | 48 | break; |
kit2 | 0:0a1680d44129 | 49 | } |
kit2 | 0:0a1680d44129 | 50 | switch(frame2) |
kit2 | 0:0a1680d44129 | 51 | { |
kit2 | 0:0a1680d44129 | 52 | case 0: //left |
kit2 | 0:0a1680d44129 | 53 | relay_stepper=!relay_stepper |
kit2 | 0:0a1680d44129 | 54 | break; |
kit2 | 0:0a1680d44129 | 55 | case 1: // right |
kit2 | 0:0a1680d44129 | 56 | break; |
kit2 | 0:0a1680d44129 | 57 | case 2: |
kit2 | 0:0a1680d44129 | 58 | stepper1=!stepper1; |
kit2 | 0:0a1680d44129 | 59 | stepper2=!stepper2; |
kit2 | 0:0a1680d44129 | 60 | break; |
kit2 | 0:0a1680d44129 | 61 | |
kit2 | 0:0a1680d44129 | 62 | } |
kit2 | 0:0a1680d44129 | 63 | switch(frame3) |
kit2 | 0:0a1680d44129 | 64 | { |
kit2 | 0:0a1680d44129 | 65 | case 0: //left |
kit2 | 0:0a1680d44129 | 66 | m11=1; |
kit2 | 0:0a1680d44129 | 67 | m12=1; |
kit2 | 0:0a1680d44129 | 68 | laser=0; |
kit2 | 0:0a1680d44129 | 69 | break; |
kit2 | 0:0a1680d44129 | 70 | |
kit2 | 0:0a1680d44129 | 71 | case 1: // right |
kit2 | 0:0a1680d44129 | 72 | m11=1; |
kit2 | 0:0a1680d44129 | 73 | m12=1; |
kit2 | 0:0a1680d44129 | 74 | laser=1; |
kit2 | 0:0a1680d44129 | 75 | break; |
kit2 | 0:0a1680d44129 | 76 | |
kit2 | 0:0a1680d44129 | 77 | case 2: |
kit2 | 0:0a1680d44129 | 78 | laser=0; |
kit2 | 0:0a1680d44129 | 79 | break; |
kit2 | 0:0a1680d44129 | 80 | |
kit2 | 0:0a1680d44129 | 81 | case 3: |
kit2 | 0:0a1680d44129 | 82 | laser=1; |
kit2 | 0:0a1680d44129 | 83 | break; |
kit2 | 0:0a1680d44129 | 84 | } |
kit2 | 0:0a1680d44129 | 85 | } |
kit2 | 0:0a1680d44129 | 86 | pc.printf("\n\n\r%d %d %d",frame1,frame2,frame3); |
kit2 | 0:0a1680d44129 | 87 | } |
kit2 | 0:0a1680d44129 | 88 | } |