Kunal Mahajan / Mbed 2 deprecated IrobotCreateTest

main.cpp@0:342fcbecbfbf, 2012-04-02 (annotated)

Committer:
kunaljacy
Date:
Mon Apr 02 01:56:01 2012 +0000
Revision:
0:342fcbecbfbf

        

        
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#include "mbed.h"





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Serial device(p9, p10);  // tx, rx





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//         Create Command          





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const char Start = 128;





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const char FullMode = 132;





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const char DriveDirect = 145;          // 4:   [Right Hi] [Right Low] [Left Hi] [Left Low]





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int speed_left = 400;





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int speed_right = 400;





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void forward();





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void start();





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void stop();





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void reverse();





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void left();





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void right();





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// try to move the Irobot create using basic commands





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int main(){





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    while(1){





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        wait(5);              // wait for Create to power up to accept serial commands





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        device.baud(57600);   // set baud rate for Create factory default





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        start();





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        wait(.5);





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        // Move around with motor commands





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        forward();





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        wait(3);





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        stop();





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        wait(.1);





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        reverse();





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        wait(3);





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        left();





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        wait(3);





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        stop();





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        wait(.1);





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        right();





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        wait(3);





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        stop();





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        wait(.5);





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    }





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}





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void start(){





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    device.putc(Start);





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    device.putc(FullMode);





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    wait(.5);





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}





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void forward(){





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    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right >> 8) & 0xFF), char(speed_right & 0xFF), char((speed_left >> 8) & 0xFF), char(speed_left & 0xFF)); 





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}





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void stop(){





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    device.printf("%c%c%c%c%c", DriveDirect, char(0),  char(0),  char(0),  char(0));





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}





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// Reverse - reverse drive motors





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void reverse() {





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    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF), char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));





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}





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// Left - drive motors set to rotate to left





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void left() {





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    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF),  char(speed_right&0xFF), char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));





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}





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// Right - drive motors set to rotate to right





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void right() {





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    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF), char((speed_left>>8)&0xFF),  char(speed_left&0xFF));





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}