Mario Bambagini / Mbed 2 deprecated rover_car

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Dependencies:   mbed-rtos mbed ssWi

main.cpp@0:97d3a2b0ff58, 2013-03-12 (annotated)

Committer:
mariob
Date:
Tue Mar 12 07:35:28 2013 +0000
Revision:
0:97d3a2b0ff58
rover project - car side; MB

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mariob 0:97d3a2b0ff58 1 #include "mbed.h"
mariob 0:97d3a2b0ff58 2 #include "rtos.h"
mariob 0:97d3a2b0ff58 3
mariob 0:97d3a2b0ff58 4 #include "xbee.hpp"
mariob 0:97d3a2b0ff58 5 #include "ssWiSocket.hpp"
mariob 0:97d3a2b0ff58 6 #include "car.hpp"
mariob 0:97d3a2b0ff58 7
mariob 0:97d3a2b0ff58 8
mariob 0:97d3a2b0ff58 9 #define PORT_MOTOR 20
mariob 0:97d3a2b0ff58 10 #define PORT_SERVO 30
mariob 0:97d3a2b0ff58 11 #define PORT_SERVO_CAMERA_X 40
mariob 0:97d3a2b0ff58 12 #define PORT_SERVO_CAMERA_Y 50
mariob 0:97d3a2b0ff58 13
mariob 0:97d3a2b0ff58 14 #define UPDATING_FUNCTION_MS 200
mariob 0:97d3a2b0ff58 15
mariob 0:97d3a2b0ff58 16
mariob 0:97d3a2b0ff58 17 ssWiSocket* socket_motor;
mariob 0:97d3a2b0ff58 18 ssWiSocket* socket_servo;
mariob 0:97d3a2b0ff58 19 ssWiSocket* socket_camera_x;
mariob 0:97d3a2b0ff58 20 ssWiSocket* socket_camera_y;
mariob 0:97d3a2b0ff58 21
mariob 0:97d3a2b0ff58 22 Car car(p23, p24, p25, p26);
mariob 0:97d3a2b0ff58 23
mariob 0:97d3a2b0ff58 24
mariob 0:97d3a2b0ff58 25 void udateFunction (const void* arg);
mariob 0:97d3a2b0ff58 26
mariob 0:97d3a2b0ff58 27
mariob 0:97d3a2b0ff58 28 int main()
mariob 0:97d3a2b0ff58 29 {
mariob 0:97d3a2b0ff58 30 //Communication link connection
mariob 0:97d3a2b0ff58 31 XBeeModule xbee(p9, p10, 102, 14);
mariob 0:97d3a2b0ff58 32 xbee.setDstAddress(XBeeBroadcastAddress());
mariob 0:97d3a2b0ff58 33 xbee.init(-1, 5);
mariob 0:97d3a2b0ff58 34
mariob 0:97d3a2b0ff58 35 //Socket creation
mariob 0:97d3a2b0ff58 36 socket_motor = ssWiSocket::createSocket(PORT_MOTOR);
mariob 0:97d3a2b0ff58 37 socket_servo = ssWiSocket::createSocket(PORT_SERVO);
mariob 0:97d3a2b0ff58 38 socket_camera_x = ssWiSocket::createSocket(PORT_SERVO_CAMERA_X);
mariob 0:97d3a2b0ff58 39 socket_camera_y = ssWiSocket::createSocket(PORT_SERVO_CAMERA_Y);
mariob 0:97d3a2b0ff58 40 if (socket_motor==NULL || socket_servo==NULL ||
mariob 0:97d3a2b0ff58 41 socket_camera_x==NULL || socket_camera_y==NULL)
mariob 0:97d3a2b0ff58 42 printf("Error: sockets\n\r");
mariob 0:97d3a2b0ff58 43
mariob 0:97d3a2b0ff58 44 //Timer setting
mariob 0:97d3a2b0ff58 45 RtosTimer timer(udateFunction, osTimerPeriodic, NULL);
mariob 0:97d3a2b0ff58 46 timer.start(200);
mariob 0:97d3a2b0ff58 47
mariob 0:97d3a2b0ff58 48 //Infinite wait
mariob 0:97d3a2b0ff58 49 Thread::wait(osWaitForever);
mariob 0:97d3a2b0ff58 50 }
mariob 0:97d3a2b0ff58 51
mariob 0:97d3a2b0ff58 52
mariob 0:97d3a2b0ff58 53 void udateFunction (const void* arg)
mariob 0:97d3a2b0ff58 54 {
mariob 0:97d3a2b0ff58 55 static DigitalOut led(LED1);
mariob 0:97d3a2b0ff58 56 static int var = 0;
mariob 0:97d3a2b0ff58 57 // while(1) {
mariob 0:97d3a2b0ff58 58 car.setSpeed((float)(socket_motor->read())/1000.0);
mariob 0:97d3a2b0ff58 59 car.setSteering((float)(socket_servo->read())/1000.0);
mariob 0:97d3a2b0ff58 60 float x = (float)socket_camera_x->read()/1000.0;
mariob 0:97d3a2b0ff58 61 float y = (float)socket_camera_y->read()/1000.0;
mariob 0:97d3a2b0ff58 62 car.setCamera(x, y);
mariob 0:97d3a2b0ff58 63 led = var>=10?1:0;
mariob 0:97d3a2b0ff58 64 var = var>=20?0:var+1;
mariob 0:97d3a2b0ff58 65 // Thread::wait(UPDATING_FUNCTION_MS);
mariob 0:97d3a2b0ff58 66 // }
mariob 0:97d3a2b0ff58 67 }