Marco Oehler / Mbed 2 deprecated Lab2

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Dependencies:   mbed

Main.cpp@0:1a972ed770da, 2020-03-09 (annotated)

Committer:
oehlemar
Date:
Mon Mar 09 16:23:04 2020 +0000
Revision:
0:1a972ed770da
LAB2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oehlemar 0:1a972ed770da 1 /*
oehlemar 0:1a972ed770da 2 * Main.cpp
oehlemar 0:1a972ed770da 3 * Copyright (c) 2020, ZHAW
oehlemar 0:1a972ed770da 4 * All rights reserved.
oehlemar 0:1a972ed770da 5 */
oehlemar 0:1a972ed770da 6
oehlemar 0:1a972ed770da 7 #include <mbed.h>
oehlemar 0:1a972ed770da 8 #include "IRSensor.h"
oehlemar 0:1a972ed770da 9 #include "EncoderCounter.h"
oehlemar 0:1a972ed770da 10 #include "Controller.h"
oehlemar 0:1a972ed770da 11 #include "StateMachine.h"
oehlemar 0:1a972ed770da 12
oehlemar 0:1a972ed770da 13 int main() {
oehlemar 0:1a972ed770da 14
oehlemar 0:1a972ed770da 15 // initialise digital inputs and outputs
oehlemar 0:1a972ed770da 16
oehlemar 0:1a972ed770da 17 DigitalIn button(USER_BUTTON);
oehlemar 0:1a972ed770da 18
oehlemar 0:1a972ed770da 19 DigitalOut ledGreen(LED1);
oehlemar 0:1a972ed770da 20 DigitalOut ledBlue(LED2);
oehlemar 0:1a972ed770da 21 DigitalOut ledRed(LED3);
oehlemar 0:1a972ed770da 22
oehlemar 0:1a972ed770da 23 DigitalOut led0(PD_4);
oehlemar 0:1a972ed770da 24 DigitalOut led1(PD_3);
oehlemar 0:1a972ed770da 25 DigitalOut led2(PD_6);
oehlemar 0:1a972ed770da 26 DigitalOut led3(PD_2);
oehlemar 0:1a972ed770da 27 DigitalOut led4(PD_7);
oehlemar 0:1a972ed770da 28 DigitalOut led5(PD_5);
oehlemar 0:1a972ed770da 29
oehlemar 0:1a972ed770da 30 // create distance sensor objects
oehlemar 0:1a972ed770da 31
oehlemar 0:1a972ed770da 32 AnalogIn distance(PA_0);
oehlemar 0:1a972ed770da 33 DigitalOut enable(PG_1);
oehlemar 0:1a972ed770da 34 DigitalOut bit0(PF_0);
oehlemar 0:1a972ed770da 35 DigitalOut bit1(PF_1);
oehlemar 0:1a972ed770da 36 DigitalOut bit2(PF_2);
oehlemar 0:1a972ed770da 37
oehlemar 0:1a972ed770da 38 enable = 1;
oehlemar 0:1a972ed770da 39
oehlemar 0:1a972ed770da 40 IRSensor irSensor0(distance, bit0, bit1, bit2, 0);
oehlemar 0:1a972ed770da 41 IRSensor irSensor1(distance, bit0, bit1, bit2, 1);
oehlemar 0:1a972ed770da 42 IRSensor irSensor2(distance, bit0, bit1, bit2, 2);
oehlemar 0:1a972ed770da 43 IRSensor irSensor3(distance, bit0, bit1, bit2, 3);
oehlemar 0:1a972ed770da 44 IRSensor irSensor4(distance, bit0, bit1, bit2, 4);
oehlemar 0:1a972ed770da 45 IRSensor irSensor5(distance, bit0, bit1, bit2, 5);
oehlemar 0:1a972ed770da 46
oehlemar 0:1a972ed770da 47 // create motor controller objects
oehlemar 0:1a972ed770da 48
oehlemar 0:1a972ed770da 49 DigitalOut enableMotorDriver(PG_0);
oehlemar 0:1a972ed770da 50 DigitalIn motorDriverFault(PD_1);
oehlemar 0:1a972ed770da 51 DigitalIn motorDriverWarning(PD_0);
oehlemar 0:1a972ed770da 52
oehlemar 0:1a972ed770da 53 PwmOut pwmLeft(PF_9);
oehlemar 0:1a972ed770da 54 PwmOut pwmRight(PF_8);
oehlemar 0:1a972ed770da 55
oehlemar 0:1a972ed770da 56 // create encoder counter objects
oehlemar 0:1a972ed770da 57
oehlemar 0:1a972ed770da 58 EncoderCounter counterLeft(PD_12, PD_13);
oehlemar 0:1a972ed770da 59 EncoderCounter counterRight(PB_4, PC_7);
oehlemar 0:1a972ed770da 60
oehlemar 0:1a972ed770da 61 // create robot controller objects
oehlemar 0:1a972ed770da 62
oehlemar 0:1a972ed770da 63 Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
oehlemar 0:1a972ed770da 64 StateMachine stateMachine(controller, enableMotorDriver, led0, led1, led2, led3, led4, led5, button, irSensor0, irSensor1, irSensor2, irSensor3, irSensor4, irSensor5);
oehlemar 0:1a972ed770da 65
oehlemar 0:1a972ed770da 66 // enter main loop
oehlemar 0:1a972ed770da 67
oehlemar 0:1a972ed770da 68 while (true) {
oehlemar 0:1a972ed770da 69
oehlemar 0:1a972ed770da 70 if (stateMachine.getState() == StateMachine::MOVE_FORWARD) {
oehlemar 0:1a972ed770da 71
oehlemar 0:1a972ed770da 72 ledGreen = 1;
oehlemar 0:1a972ed770da 73 ledBlue = 0;
oehlemar 0:1a972ed770da 74 ledRed = 0;
oehlemar 0:1a972ed770da 75
oehlemar 0:1a972ed770da 76 } else if ((stateMachine.getState() == StateMachine::TURN_LEFT) || (stateMachine.getState() == StateMachine::TURN_RIGHT)) {
oehlemar 0:1a972ed770da 77
oehlemar 0:1a972ed770da 78 ledGreen = 1;
oehlemar 0:1a972ed770da 79 ledBlue = 1;
oehlemar 0:1a972ed770da 80 ledRed = 0;
oehlemar 0:1a972ed770da 81
oehlemar 0:1a972ed770da 82 } else {
oehlemar 0:1a972ed770da 83
oehlemar 0:1a972ed770da 84 ledGreen = 0;
oehlemar 0:1a972ed770da 85 ledBlue = 0;
oehlemar 0:1a972ed770da 86 ledRed = 1;
oehlemar 0:1a972ed770da 87 }
oehlemar 0:1a972ed770da 88
oehlemar 0:1a972ed770da 89 wait(0.1);
oehlemar 0:1a972ed770da 90 }
oehlemar 0:1a972ed770da 91 }
oehlemar 0:1a972ed770da 92