First program to demonstrate a working robot. crude and ugly, basicly a smoke test.
Dependencies: mbed Motordriver Servo GP2xx
main.cpp@0:0bc8408a55f8, 2010-12-01 (annotated)
- Committer:
- littlexc
- Date:
- Wed Dec 01 21:20:04 2010 +0000
- Revision:
- 0:0bc8408a55f8
purely a test software to show that the system can do something
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
littlexc | 0:0bc8408a55f8 | 1 | #include <mbed.h> |
littlexc | 0:0bc8408a55f8 | 2 | #include <motordriver.h> |
littlexc | 0:0bc8408a55f8 | 3 | #include <Servo.h> |
littlexc | 0:0bc8408a55f8 | 4 | #include <GP2xx.h> |
littlexc | 0:0bc8408a55f8 | 5 | //pc interface |
littlexc | 0:0bc8408a55f8 | 6 | Serial pc(USBTX, USBRX); // tx, rx |
littlexc | 0:0bc8408a55f8 | 7 | //servos |
littlexc | 0:0bc8408a55f8 | 8 | Servo LeftServo(p24); |
littlexc | 0:0bc8408a55f8 | 9 | Servo RightServo(p23); |
littlexc | 0:0bc8408a55f8 | 10 | //motors, left and right side |
littlexc | 0:0bc8408a55f8 | 11 | Motor leftM(p22, p6, p5, 1); // pwm, fwd, rev, can break |
littlexc | 0:0bc8408a55f8 | 12 | Motor rightM(p21, p7, p8, 1); // pwm, fwd, rev, can break |
littlexc | 0:0bc8408a55f8 | 13 | //range finders, left and right side, and left and right front |
littlexc | 0:0bc8408a55f8 | 14 | IRRangeFinder LS(p18,1); |
littlexc | 0:0bc8408a55f8 | 15 | IRRangeFinder LF(p17,1); |
littlexc | 0:0bc8408a55f8 | 16 | IRRangeFinder RF(p16,1); |
littlexc | 0:0bc8408a55f8 | 17 | IRRangeFinder RS(p15,1); |
littlexc | 0:0bc8408a55f8 | 18 | //debug leds. |
littlexc | 0:0bc8408a55f8 | 19 | DigitalOut led1 (LED1); |
littlexc | 0:0bc8408a55f8 | 20 | DigitalOut led2 (LED2); |
littlexc | 0:0bc8408a55f8 | 21 | DigitalOut led3 (LED3); |
littlexc | 0:0bc8408a55f8 | 22 | DigitalOut led4 (LED4); |
littlexc | 0:0bc8408a55f8 | 23 | DigitalOut ledleft (p14); |
littlexc | 0:0bc8408a55f8 | 24 | DigitalOut ledright (p13); |
littlexc | 0:0bc8408a55f8 | 25 | DigitalOut ledfront (p12); |
littlexc | 0:0bc8408a55f8 | 26 | |
littlexc | 0:0bc8408a55f8 | 27 | int quickfirstprog() {//initalisation |
littlexc | 0:0bc8408a55f8 | 28 | led1 = led2 = led3 = led4 = 1;//lights |
littlexc | 0:0bc8408a55f8 | 29 | leftM.speed(0.5); |
littlexc | 0:0bc8408a55f8 | 30 | rightM.speed(-0.5);//shows that it works. |
littlexc | 0:0bc8408a55f8 | 31 | wait(1); |
littlexc | 0:0bc8408a55f8 | 32 | while (1) {//infinate loop to drive around |
littlexc | 0:0bc8408a55f8 | 33 | switch ( RS.read() ) {//ugly horrible switch statements that implement a crude attempt at object avoidance |
littlexc | 0:0bc8408a55f8 | 34 | case 4://really this exists to prove that the system drives, and the IR rangefinders have some sane values. |
littlexc | 0:0bc8408a55f8 | 35 | leftM.speed(-0.9); |
littlexc | 0:0bc8408a55f8 | 36 | break; |
littlexc | 0:0bc8408a55f8 | 37 | case 5: |
littlexc | 0:0bc8408a55f8 | 38 | leftM.speed(-0.8); |
littlexc | 0:0bc8408a55f8 | 39 | break; |
littlexc | 0:0bc8408a55f8 | 40 | case 7: |
littlexc | 0:0bc8408a55f8 | 41 | leftM.speed(-0.7); |
littlexc | 0:0bc8408a55f8 | 42 | break; |
littlexc | 0:0bc8408a55f8 | 43 | case 8: |
littlexc | 0:0bc8408a55f8 | 44 | leftM.speed(-0.6); |
littlexc | 0:0bc8408a55f8 | 45 | break; |
littlexc | 0:0bc8408a55f8 | 46 | case 10: |
littlexc | 0:0bc8408a55f8 | 47 | leftM.speed(-0.4); |
littlexc | 0:0bc8408a55f8 | 48 | break; |
littlexc | 0:0bc8408a55f8 | 49 | case 12: |
littlexc | 0:0bc8408a55f8 | 50 | leftM.speed(-0.2); |
littlexc | 0:0bc8408a55f8 | 51 | break; |
littlexc | 0:0bc8408a55f8 | 52 | case 14: |
littlexc | 0:0bc8408a55f8 | 53 | leftM.speed(0.0); |
littlexc | 0:0bc8408a55f8 | 54 | break; |
littlexc | 0:0bc8408a55f8 | 55 | case 20: |
littlexc | 0:0bc8408a55f8 | 56 | leftM.speed(0.4); |
littlexc | 0:0bc8408a55f8 | 57 | break; |
littlexc | 0:0bc8408a55f8 | 58 | case 25: |
littlexc | 0:0bc8408a55f8 | 59 | leftM.speed(0.6); |
littlexc | 0:0bc8408a55f8 | 60 | break; |
littlexc | 0:0bc8408a55f8 | 61 | case 30: |
littlexc | 0:0bc8408a55f8 | 62 | leftM.speed(0.8); |
littlexc | 0:0bc8408a55f8 | 63 | break; |
littlexc | 0:0bc8408a55f8 | 64 | } |
littlexc | 0:0bc8408a55f8 | 65 | switch ( LF.read() ) { |
littlexc | 0:0bc8408a55f8 | 66 | case 4: |
littlexc | 0:0bc8408a55f8 | 67 | rightM.speed(-1); |
littlexc | 0:0bc8408a55f8 | 68 | break; |
littlexc | 0:0bc8408a55f8 | 69 | case 5: |
littlexc | 0:0bc8408a55f8 | 70 | rightM.speed(-0.9); |
littlexc | 0:0bc8408a55f8 | 71 | break; |
littlexc | 0:0bc8408a55f8 | 72 | case 7: |
littlexc | 0:0bc8408a55f8 | 73 | rightM.speed(-0.8); |
littlexc | 0:0bc8408a55f8 | 74 | break; |
littlexc | 0:0bc8408a55f8 | 75 | case 8: |
littlexc | 0:0bc8408a55f8 | 76 | rightM.speed(-0.7); |
littlexc | 0:0bc8408a55f8 | 77 | break; |
littlexc | 0:0bc8408a55f8 | 78 | case 10: |
littlexc | 0:0bc8408a55f8 | 79 | rightM.speed(-0.6); |
littlexc | 0:0bc8408a55f8 | 80 | break; |
littlexc | 0:0bc8408a55f8 | 81 | case 12: |
littlexc | 0:0bc8408a55f8 | 82 | rightM.speed(-0.4); |
littlexc | 0:0bc8408a55f8 | 83 | break; |
littlexc | 0:0bc8408a55f8 | 84 | case 14: |
littlexc | 0:0bc8408a55f8 | 85 | rightM.speed(0.0); |
littlexc | 0:0bc8408a55f8 | 86 | break; |
littlexc | 0:0bc8408a55f8 | 87 | case 20: |
littlexc | 0:0bc8408a55f8 | 88 | rightM.speed(0.4); |
littlexc | 0:0bc8408a55f8 | 89 | break; |
littlexc | 0:0bc8408a55f8 | 90 | case 25: |
littlexc | 0:0bc8408a55f8 | 91 | rightM.speed(0.6); |
littlexc | 0:0bc8408a55f8 | 92 | break; |
littlexc | 0:0bc8408a55f8 | 93 | case 30: |
littlexc | 0:0bc8408a55f8 | 94 | rightM.speed(0.8); |
littlexc | 0:0bc8408a55f8 | 95 | break; |
littlexc | 0:0bc8408a55f8 | 96 | } |
littlexc | 0:0bc8408a55f8 | 97 | wait(0.1); |
littlexc | 0:0bc8408a55f8 | 98 | }//end of infinate loop to drive around |
littlexc | 0:0bc8408a55f8 | 99 | } |