Diff: main.cpp

Revision:

0:a57144f199bb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Apr 22 04:40:03 2015 +0000
@@ -0,0 +1,80 @@
+#include "mbed.h"
+#include "ultrasonic.h"
+
+DigitalOut dcm01(PTD1);
+DigitalOut dcm02(PTD3);
+DigitalOut dcm03(PTD2);
+DigitalOut dcm04(PTD0);
+
+#if   defined(TARGET_LPC1768)
+Serial blue(p9, p10);   // TX, RX
+#elif defined(TARGET_KL25Z)
+Serial blue(PTE0, PTE1);   // TX, RX
+#endif
+
+void dist(int distance)
+{   
+    blue.printf("%d\r\n", distance);
+}
+
+ultrasonic mu(PTD4, PTA4, 0.5, 1, &dist);
+
+int main() {
+    
+    mu.startUpdates();
+    
+    dcm01 = 0;
+    dcm02 = 0;
+    dcm03 = 0;
+    dcm04 = 0;
+    
+    blue.baud(115200);
+    
+    while(1) {
+        if (blue.readable()) 
+        {
+            char command = blue.getc();
+            
+            switch (command) 
+            {
+                // forward
+                case 'F':
+                    dcm01 = 1;
+                    dcm02 = 0;
+                    dcm03 = 1;
+                    dcm04 = 0;
+                    break;
+                // backward
+                case 'B':
+                    dcm01 = 0;
+                    dcm02 = 1;
+                    dcm03 = 0;
+                    dcm04 = 1;
+                    break;
+                // LEFT
+                case 'L':
+                    dcm01 = 1;
+                    dcm02 = 0;
+                    dcm03 = 0;
+                    dcm04 = 1;
+                    break;
+                // right
+                case 'R':
+                    dcm01 = 0;
+                    dcm02 = 1;
+                    dcm03 = 1;
+                    dcm04 = 0;
+                    break;
+                // stop
+                case 'S':
+                    dcm01 = 0;
+                    dcm02 = 0;
+                    dcm03 = 0;
+                    dcm04 = 0;
+                    break;
+            }
+        }
+        
+        mu.checkDistance();
+    }
+}