This is an example program that actually allows the car to race using the FRDM-TFC library!
Fork of TFC-RACING-DEMO by
Revision 1:2ca599933725, committed 2014-04-28
- Comitter:
- morgonXak
- Date:
- Mon Apr 28 15:05:37 2014 +0000
- Parent:
- 0:98e98e01a6ce
- Commit message:
- jguh; \; ;
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 98e98e01a6ce -r 2ca599933725 main.cpp --- a/main.cpp Sun Apr 20 03:33:03 2014 +0000 +++ b/main.cpp Mon Apr 28 15:05:37 2014 +0000 @@ -21,100 +21,8 @@ void DemoProgram() { uint32_t i,j,t = 0; - float ReadPot0, ReadPot1; - - - //This Demo program will look at the middle 2 switch to select one of 4 demo modes. - //Let's look at the middle 2 switches - switch((TFC_GetDIP_Switch()>>1)&0x03) - { - default: - case 0 : - //Demo mode 0 just tests the switches and LED's - if(TFC_PUSH_BUTTON_0_PRESSED) - TFC_BAT_LED0_ON; - else - TFC_BAT_LED0_OFF; - - if(TFC_PUSH_BUTTON_1_PRESSED) - TFC_BAT_LED3_ON; - else - TFC_BAT_LED3_OFF; - - -/* if(TFC_GetDIP_Switch()&0x01) - TFC_BAT_LED1_ON; - else - TFC_BAT_LED1_OFF; - - if(TFC_GetDIP_Switch()&0x08) - TFC_BAT_LED2_ON; - else - TFC_BAT_LED2_OFF; */ - - break; - - case 1: - TFC_HBRIDGE_DISABLE; - - // if (TFC_HBRIDGE_ENABLED) { - - // TFC_HBRIDGE_ENABLED = false; - // } + // float ReadPot0, ReadPot1; - //Demo mode 1 will just move the servos with the on-board potentiometers - if(TFC_Ticker[0]>=20) // every 40mS... - { - TFC_Ticker[0] = 0; //reset the Ticker - //update the Servos - ReadPot0 = TFC_ReadPot(0); - ReadPot1 = TFC_ReadPot(1); - TFC_SetServo(0,ReadPot0); - TFC_SetServo(1,ReadPot1); - TERMINAL_PRINTF("Pot0 = %1.2f\r\n", ReadPot0); - // TERMINAL_PRINTF("Pot1 = %1.2f\r\n", ReadPot1); - } - //Let's put a pattern on the LEDs - if(TFC_Ticker[1] >= 125) // every 250mS... cycle through LEDs - { - TFC_Ticker[1] = 0; - t++; - if(t>4) - { - t=0; - } - TFC_SetBatteryLED_Level(t); - } - - TFC_SetMotorPWM(0,0); //Make sure motors are off - TFC_HBRIDGE_DISABLE; - - break; - - case 2 : - TFC_HBRIDGE_ENABLE; - - ReadPot0 = TFC_ReadPot(0); - ReadPot1 = TFC_ReadPot(1); - // TERMINAL_PRINTF("Pot0 = %1.2f\n", ReadPot0); - // TERMINAL_PRINTF("Pot1 = %1.2f\n", ReadPot1); - TFC_SetMotorPWM(ReadPot0,ReadPot1); - - //Let's put a pattern on the LEDs - if(TFC_Ticker[1] >= 125) - { - TFC_Ticker[1] = 0; - t++; - if(t>4) - { - t=0; - } - TFC_SetBatteryLED_Level(t); - } - break; - - case 3 : - //Demo Mode 3 will be in Freescale Garage Mode. It will beam data from the Camera to the //Labview Application //note that there are some issues if(TFC_Ticker[0]>1000 && TFC_LineScanImageReady>0) // every 2s ... @@ -143,31 +51,8 @@ } wait_ms(10); - } - - /* for(i=0;i<8;i++) // print one line worth of data (128) from Camera 1 ?? - { - for(j=0;j<16;j++) - { - TERMINAL_PRINTF("0x%X",TFC_LineScanImage1[(i*16)+j]); - - if((i==7) && (j==15)) // when last data reached put in line return - TERMINAL_PRINTF("\r\n",TFC_LineScanImage1[(i*16)+j]); - else - TERMINAL_PRINTF(",",TFC_LineScanImage1[(i*16)+j]); - } - - wait_ms(10); - } */ - - } - - - - break; - } // end case - -} + } +}} int main()