Aaron Lamoreaux / Mbed OS avc

AVC Code

Dependencies:   FRDM-TFC

main.cpp@7:6efd4f07ae00, 2019-03-09 (annotated)

Committer:
lamoreauxaj
Date:
Sat Mar 09 22:17:08 2019 +0000
Revision:
7:6efd4f07ae00
Parent:
5:12eddb3cacc9 
k

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lamoreauxaj 0:8a7153ecd2bc 1 /* mbed Microcontroller Library
lamoreauxaj 0:8a7153ecd2bc 2 * Copyright (c) 2018 ARM Limited
lamoreauxaj 0:8a7153ecd2bc 3 * SPDX-License-Identifier: Apache-2.0
lamoreauxaj 0:8a7153ecd2bc 4 */
lamoreauxaj 0:8a7153ecd2bc 5
lamoreauxaj 0:8a7153ecd2bc 6 #include "mbed.h"
lamoreauxaj 1:5a458b26e64d 7 #include "TFC.h"
lamoreauxaj 2:9bd28448e604 8 #include <cmath>
lamoreauxaj 0:8a7153ecd2bc 9
lamoreauxaj 0:8a7153ecd2bc 10 DigitalOut led1(LED1);
lamoreauxaj 1:5a458b26e64d 11 Serial pc(USBTX, USBRX);
lamoreauxaj 0:8a7153ecd2bc 12
lamoreauxaj 2:9bd28448e604 13 float lastStatusUpdate = 0;
lamoreauxaj 2:9bd28448e604 14 float batteryVoltage;
lamoreauxaj 2:9bd28448e604 15 void updateStatus (float delta, float currTime) {
lamoreauxaj 2:9bd28448e604 16 if (currTime - lastStatusUpdate > 1) {
lamoreauxaj 2:9bd28448e604 17 lastStatusUpdate = currTime;
lamoreauxaj 2:9bd28448e604 18 pc.printf("Battery Voltage: %.2f\r\n", batteryVoltage);
lamoreauxaj 2:9bd28448e604 19 }
lamoreauxaj 2:9bd28448e604 20 }
lamoreauxaj 2:9bd28448e604 21
lamoreauxaj 2:9bd28448e604 22
lamoreauxaj 2:9bd28448e604 23 void updateBattery (float delta, float currTime) {
JamsRamen 3:9338aee2dd2d 24 float maxVoltage = 3.0f;
lamoreauxaj 2:9bd28448e604 25 batteryVoltage = TFC_ReadBatteryVoltage();
lamoreauxaj 2:9bd28448e604 26 float fractionCharged = TFC_ReadBatteryVoltage() / maxVoltage;
lamoreauxaj 2:9bd28448e604 27
lamoreauxaj 2:9bd28448e604 28 int level = floor(4*fractionCharged + 0.5f);
lamoreauxaj 2:9bd28448e604 29
lamoreauxaj 2:9bd28448e604 30 if (level < 0) level = 0;
lamoreauxaj 2:9bd28448e604 31 if (level > 4) level = 4;
lamoreauxaj 2:9bd28448e604 32
lamoreauxaj 2:9bd28448e604 33 TFC_SetBatteryLED_Level(level);
lamoreauxaj 2:9bd28448e604 34 }
lamoreauxaj 0:8a7153ecd2bc 35
JamsRamen 5:12eddb3cacc9 36
lamoreauxaj 1:5a458b26e64d 37 void update(float delta, float currTime) {
lamoreauxaj 2:9bd28448e604 38 // pc.printf("Camera1: %d; Camera2 %d\r\n", camera1.read(), camera2.read());
lamoreauxaj 2:9bd28448e604 39 TFC_HBRIDGE_ENABLE;
JamsRamen 5:12eddb3cacc9 40 TFC_SetMotorPWM(0.2f, 0.2f);
JamsRamen 5:12eddb3cacc9 41 TFC_SetServo(0, 0);
lamoreauxaj 2:9bd28448e604 42 updateBattery(delta, currTime);
lamoreauxaj 2:9bd28448e604 43
lamoreauxaj 2:9bd28448e604 44 updateStatus(delta, currTime);
lamoreauxaj 1:5a458b26e64d 45 }
lamoreauxaj 0:8a7153ecd2bc 46
lamoreauxaj 1:5a458b26e64d 47 int main() {
lamoreauxaj 2:9bd28448e604 48 TFC_Init();
lamoreauxaj 1:5a458b26e64d 49 int startClock = 0;
lamoreauxaj 1:5a458b26e64d 50 float lastTime = 0;
lamoreauxaj 1:5a458b26e64d 51
lamoreauxaj 0:8a7153ecd2bc 52 while (true) {
lamoreauxaj 1:5a458b26e64d 53
lamoreauxaj 1:5a458b26e64d 54 float currTime = float(clock() - startClock) / CLOCKS_PER_SEC;
lamoreauxaj 1:5a458b26e64d 55 update(currTime - lastTime, currTime);
lamoreauxaj 1:5a458b26e64d 56 lastTime = currTime;
lamoreauxaj 1:5a458b26e64d 57
lamoreauxaj 0:8a7153ecd2bc 58 }
lamoreauxaj 0:8a7153ecd2bc 59 }