Diff: main.cpp

Revision:

2:375e29585498

Parent:

0:fb6bbc10ffa0

--- a/main.cpp	Sun Jan 01 20:57:57 2012 +0000
+++ b/main.cpp	Tue Oct 20 08:35:55 2015 +0000
@@ -1,12 +1,53 @@
 #include "mbed.h"
+#include "DRV8833.h"
+#include "BufferedSerial.h"
+
 
-DigitalOut myled(LED1);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+ 
+Serial pc(USBTX, USBRX);
 
+ int err;
+DRV8833 motor1(p21,p22);
+DRV8833 motor2(p23,p24);
+DRV8833 motor3(p25,p26);
+ 
 int main() {
-    while(1) {
-        myled = 1;
-        wait(0.2);
-        myled = 0;
-        wait(0.2);
+     pc.baud(115200);
+     motor1.period(0.0000035f);
+     motor2.period(0.0000035f);
+     motor3.period(0.0000035f);
+     float s1,s2,s3;
+    while (1) {
+        if(pc.readable())
+        {
+          char c;
+          err=pc.scanf("%c",&c);
+          if(c=='t')
+          {
+              pc.printf("r\n");
+            led2 = 1;
+            wait(0.1);
+            led2=0;
+          }else if(c=='d')
+          {
+           //  printf("reading bytes\n");
+             int m1,m2,m3;
+            err=pc.scanf("%d %d %d",&m1,&m2,&m3);
+            s1=(float)(m1)/(float)1000.0f;
+            s2=(float)(m2)/(float)1000.0f;
+            s3=(float)(m3)/(float)1000.0f;
+            
+            motor1.speed(s1);
+            motor2.speed(s2);
+            motor3.speed(s3);
+            
+           // printf("%f,%f,%f\n",s1,s2,s3);
+           } 
+        //    led1 = !led1;
+        }
     }
-}
+}
\ No newline at end of file