Diff: main.cpp

Revision:

8:c71c60a52509

Parent:

5:bf5becf7469c

--- a/main.cpp	Tue Feb 19 23:46:45 2013 +0000
+++ b/main.cpp	Sat Aug 20 17:22:58 2016 +0000
@@ -1,18 +1,64 @@
 #include "mbed.h"
 #include "MMA8451Q.h"
+Serial pc(USBTX,USBRX);
 
 #define MMA8451_I2C_ADDRESS (0x1d<<1)
+ 
+PwmOut ena(D7);
+PwmOut enb(D6);
+DigitalOut in1 (D5);
+DigitalOut in2 (D4);
+DigitalOut in3 (D3);
+DigitalOut in4 (D2);
+ 
+//Serial pc(USBTX, USBRX); // liga direto
 
-int main(void) {
+
+Serial blue(PTC4, PTC3);
+ 
+float vela=1.0f; //ENGINE SPEED
+float velb=1.0f; //ENGINE SPEED
+ 
+int main()
+{
+    pc.baud(9600);
     MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
     PwmOut rled(LED_RED);
-    PwmOut gled(LED_GREEN);
-    PwmOut bled(LED_BLUE);
-
+    
     while (true) {
-        rled = 1.0 - abs(acc.getAccX());
-        gled = 1.0 - abs(acc.getAccY());
-        bled = 1.0 - abs(acc.getAccZ());
-        wait(0.1);
+        
+    
+    float estado=0;
+    
+    rled = 1.0 - abs(acc.getAccX());
+    estado = (acc.getAccX());
+    pc.printf("%f\n",estado);
+ 
+ //           if(estado==0) {          // PARADO
+   //             ena.write(0);
+     //           in1.write(0);
+       //         in2.write(0);
+         //       enb.write(0);
+           //     in3.write(0);
+             //   in4.write(0);
+                
+            //}
+            if(estado<0) {         // Vai para FRENTE
+                ena.write(estado);
+                in1.write(0);
+                in2.write(1);
+                enb.write(estado);
+                in3.write(0);
+                in4.write(1);
+            }
+            if(estado>-0) {        // Vai para tras                ena.write(vela);
+                ena.write(estado);
+                in1.write(1);
+                in2.write(0);
+                enb.write(estado);
+                in3.write(1);
+                in4.write(0);
+            }
     }
+    
 }