Diff: main.cpp

Revision:

0:f52dea8105ba

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Mar 14 19:51:59 2016 +0000
@@ -0,0 +1,123 @@
+#include "mbed.h"
+#include "Motor.h"
+#include <ctime>
+#include <string>
+#include <cstdio>
+#include "SongPlayer.h"
+
+using namespace std;
+
+DigitalOut led(LED4);
+DigitalOut softReset(p12);
+Serial blue(p28,p27);
+Motor motorA(p21, p19, p17); //pwm, fwd, rev
+Motor motorB(p22,p23, p24); //pwm, fwd, rev
+Ticker IRflip;
+AnalogIn IR(p16);
+void motorStop();
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+
+////////////////GLOBALS
+clock_t startTime;
+clock_t endTime;
+string time_str;
+int movingMotors = 0;
+
+///////////////Function init
+void writeSD(double seconds);
+double readSD();
+void reset();
+void playSound(char*);
+void motorStop();
+
+
+///////////////////Functions
+void reset()
+{
+       softReset = 1;
+       wait(.5);
+       softReset = 0;
+}
+void motorStop()
+{
+    
+    string str;
+    if(IR <= .2f) 
+        {
+            led2 = 1;
+            endTime = clock();
+            double seconds = endTime-startTime; 
+            writeSD(seconds);
+            led3 =1;
+            wait(0.5);
+            led = 0;
+            motorB.speed(0);
+            motorA.speed(0);
+            reset();
+        }
+}
+double readSD()
+{
+    double seconds= LPC_RTC->GPREG0;
+    LPC_RTC->GPREG0 = 0;
+    return seconds;
+}
+
+void writeSD(double seconds)
+{
+    LPC_RTC->GPREG0 = seconds;
+}
+int main()
+{
+    int counter = 1;
+    char bnum=0;
+    while(1) 
+    {
+        if (blue.getc()=='!' && counter == 1) 
+        {
+            counter--;
+            if (blue.getc()=='B') //button data
+            { 
+                
+                bnum = blue.getc(); //button number
+                if(bnum=='1') //press number 1
+                {
+                    led1 = 1;
+                    startTime = clock();
+                    IRflip.attach(&motorStop, 0.05);  
+                    
+                    motorA.speed(1);
+                    motorB.speed(1);
+                } 
+                else if(bnum == '2') //press number 2
+                {
+                    motorA.speed(0);
+                    motorB.speed(0);
+                }
+                else if(bnum == '3') //rev
+                {
+                    double sdTime = readSD();
+                    clock_t temp = clock(); 
+                    double unwind =  (sdTime + temp) + (sdTime + temp)* .065;
+                    while((double)clock() <= unwind)
+                    {
+                        motorA.speed(-1);
+                        motorB.speed(-1);
+                    }
+                    
+                    motorA.speed(0);
+                    motorB.speed(0);
+                    reset();
+                }
+                else if(bnum == '4') //press number 4
+                {
+                    motorA.speed(0);
+                    motorB.speed(0);
+                }
+            }// if 'B'
+        }//if '!'
+    }//while
+}//main
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