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Dependencies:   mbed ForItay

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Show/hide line numbers main.cpp Source File

main.cpp

00001 #include "mbed.h"
00002 #include "Motor.h"
00003 Serial pc(USBTX, USBRX);
00004 Motor myMotor(PA_1, PA_0);
00005 Motor isMotor(PB_0, PA_4);
00006 Motor miMotor(PF_0, PA_3);
00007 Motor hisMotor(PA_7, PA_5);
00008 char incoming;
00009 float wx = 0;
00010 float wy = 0;
00011 float wz = 0;
00012 float wp = 0;
00013 
00014 int main() {
00015 
00016     pc.baud(9600);
00017     while(1){
00018         if(pc.readable()) {
00019             incoming = pc.getc();
00020             switch(incoming) {
00021                 case 'a':
00022                     wx = wx+0.02;
00023                     myMotor.speed(wx);
00024                     pc.printf("Motor 1 is:  %4f\r\n", wx);
00025                     break;
00026                 case 's':
00027                     wx = wx-0.02;
00028                      myMotor.speed(wx);
00029                      pc.printf("Motor 1 s:  %4f\r\n", wx);
00030                     break;
00031                     
00032                 case 'd':
00033                     wx = 0.0;
00034                     myMotor.speed(wx);
00035                     pc.printf("Motor 1 is: 4f\r\n", wx);
00036                     break;
00037                 case 'z':
00038                     wy = wy+0.02;
00039                     isMotor.speed(wy);
00040                     pc.printf("Motor 2 is:  %4f\r\n", wy);
00041                     break;
00042                 case 'x':
00043                     wy = wy-0.02;
00044                      isMotor.speed(wy);
00045                      pc.printf("Motor 2 is:  %4f\r\n", wy);
00046                     break;
00047                     
00048                 case 'c':
00049                     wy = 0.0;
00050                     isMotor.speed(wy);
00051                     pc.printf("Motor 2  is:  %4f \r\n", wy);
00052                     break;
00053                 case 'f':
00054                     wz = wz+0.02;
00055                     miMotor.speed(wz);
00056                     pc.printf("Motor 3 is:  %4f\r\n", wz);
00057                     break;
00058                 case 'g':
00059                     wz = wz-0.02;
00060                      miMotor.speed(wz);
00061                      pc.printf("Motor 3 is:  %4f\r\n", wz);
00062                     break;
00063                     
00064                 case 'h':
00065                     wz = 0.0;
00066                     miMotor.speed(wz);
00067                     pc.printf("Motor 3 is: %4f\r\n", wz);
00068                     break;
00069                 case 'v':
00070                     wp = wp+0.02;
00071                     hisMotor.speed(wp);
00072                     pc.printf("Motor 4 is:  %4f\r\n", wp);
00073                     break;
00074                 case 'b':
00075                     wp = wp-0.02;
00076                      hisMotor.speed(wp);
00077                      pc.printf("Motor 4 is:  %4f\r\n", wp);
00078                     break;
00079                     
00080                 case 'n':
00081                     wp = 0.0;
00082                     hisMotor.speed(wp);
00083                     pc.printf("Motor 4 is:  %4f \r\n", wp);
00084                     break;
00085                 case 'p':
00086                     pc.printf("Motor 1 is:  %4f\r\n", wx);
00087                     pc.printf("Motor 2  is:  %4f \r\n", wy);
00088                     pc.printf("Motor 3 is: 4f\r\n", wz);
00089                     pc.printf("Motor 4 is:  %4f \r\n", wp);
00090                     break;
00091                 }           
00092         }
00093 
00094           
00095         }
00096 }