Diff: main.cpp

Revision:

4:0670023d3f36

Parent:

3:e4ac7c1a14de

diff -r e4ac7c1a14de -r 0670023d3f36 main.cpp
--- a/main.cpp	Fri May 27 01:44:31 2016 +0000
+++ b/main.cpp	Sat May 28 05:09:18 2016 +0000
@@ -1,10 +1,12 @@
 #include "mbed.h"
-#include "rtos.h"
+//#include "rtos.h"
 #include "MicroduinoPinNames.h"
 #include "userDef.h"
 #include "Protocol.h"
 #include "Microduino_Motor.h"
 
+Timer g_cubeTimer;
+#if 1
 Motor MotorLeft(motor_pin0A, motor_pin0B);
 Motor MotorRight(motor_pin1A, motor_pin1B);
 ///////////////////////////////////////////////////////////
@@ -13,10 +15,8 @@
 bool mode = 0; //nrf或者ble模式
 int16_t throttle = 0; //油门
 int16_t steering = 0; //转向
-unsigned long safe_ms;
+int safe_ms = 0;
 
-DigitalOut myled(D11);
-Timer g_cubeTimer;
 //Serial pc(P0_4,P0_0);
 
 static long map(long x, long in_min, long in_max, long out_min, long out_max)
@@ -26,6 +26,7 @@
 
 int main()
 {
+    bool freeFlag = true;
     g_cubeTimer.start();
     mode = protocolSetup();  //遥控接收器初始化
 
@@ -41,6 +42,7 @@
             MotorRight.Driver(MotorRight.GetData(throttle, steering, CHAN_RIGHT));
 
 #ifdef _DEBUG
+asdf
             Serial.print("DATA OK :[");
             for (int a = 0; a < CHANNEL_NUM; a++) {
                 Serial.print(channalData[a]);
@@ -53,7 +55,7 @@
 #endif
             safe_ms = g_cubeTimer.read_ms();
         }
-
+#if 0
         if (safe_ms > g_cubeTimer.read_ms()) {
             safe_ms = g_cubeTimer.read_ms();
         }
@@ -63,7 +65,36 @@
             //MotorLeft.Brake();
             //MotorRight.Brake();
         }
+#endif
         //pc.printf("Hello world\r\n");
         //sleep();
     }
 }
+#else
+DigitalOut myled(D13);
+PwmOut PWM_A(motor_pin0A);
+PwmOut PWM_B(motor_pin0B);
+int pv = 0;
+int main()
+{
+    myled.write(1);
+    PWM_A.period_us(255);
+    PWM_B.period_us(255);
+    
+    PWM_A.pulsewidth_us(200);
+    PWM_B.pulsewidth_us(0);
+    while (1)
+    {
+        #if 0
+        PWM_B.pulsewidth_us(pv);
+        pv++;
+        #endif
+        wait(0.5);
+        myled = !myled;
+        if (pv >= 255)
+        {
+            pv = 0;
+        }
+    }
+}
+#endif
\ No newline at end of file