Diff: quickfirstprog.cpp

Revision:

0:8fe745012832

diff -r 000000000000 -r 8fe745012832 quickfirstprog.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/quickfirstprog.cpp	Wed Dec 01 21:34:07 2010 +0000
@@ -0,0 +1,100 @@
+/*
+#include <mbed.h>
+#include <motordriver.h>
+#include <Servo.h>
+#include <GP2xx.h>
+//pc interface
+Serial pc(USBTX, USBRX); // tx, rx
+//servos
+Servo LeftServo(p24);
+Servo RightServo(p23);
+//motors, left and right side
+Motor leftM(p22, p6, p5, 1); // pwm, fwd, rev, can break
+Motor rightM(p21, p7, p8, 1); // pwm, fwd, rev, can break
+//range finders, left and right side, and left and right front
+IRRangeFinder LS(p18,1);
+IRRangeFinder LF(p17,1);
+IRRangeFinder RF(p16,1);
+IRRangeFinder RS(p15,1);
+//debug leds.
+DigitalOut led1 (LED1);
+DigitalOut led2 (LED2);
+DigitalOut led3 (LED3);
+DigitalOut led4 (LED4);
+DigitalOut ledleft  (p14);
+DigitalOut ledright (p13);
+DigitalOut ledfront (p12);
+
+int quickfirstprog() {//initalisation
+    led1 = led2 = led3 = led4 = 1;
+    leftM.speed(0.5);
+    rightM.speed(-0.5);
+    wait(1);
+    while (1) {//infinate loop to drive around
+        switch ( RS.read() ) {
+            case 4:
+                leftM.speed(-0.9);
+                break;
+            case 5:
+                leftM.speed(-0.8);
+                break;
+            case 7:
+                leftM.speed(-0.7);
+                break;
+            case 8:
+                leftM.speed(-0.6);
+                break;
+            case 10:
+                leftM.speed(-0.4);
+                break;
+            case 12:
+                leftM.speed(-0.2);
+                break;
+            case 14:
+                leftM.speed(0.0);
+                break;
+            case 20:
+                leftM.speed(0.4);
+                break;
+            case 25:
+                leftM.speed(0.6);
+                break;
+            case 30:
+                leftM.speed(0.8);
+                break;
+        }
+        switch ( LF.read() ) {
+            case 4:
+                rightM.speed(-1);
+                break;
+            case 5:
+                rightM.speed(-0.9);
+                break;
+            case 7:
+                rightM.speed(-0.8);
+                break;
+            case 8:
+                rightM.speed(-0.7);
+                break;
+            case 10:
+                rightM.speed(-0.6);
+                break;
+            case 12:
+                rightM.speed(-0.4);
+                break;
+            case 14:
+                rightM.speed(0.0);
+                break;
+            case 20:
+                rightM.speed(0.4);
+                break;
+            case 25:
+                rightM.speed(0.6);
+                break;
+            case 30:
+                rightM.speed(0.8);
+                break;
+        }
+        wait(0.1);
+    }//end of infinate loop to drive around
+}*/
\ No newline at end of file