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TRR2018 omar
Fork of biniou by
Diff: main.cpp
- Revision:
- 8:1d8c3ca5e508
- Parent:
- 1:abed67ad1d03
- Child:
- 11:bc24b3ba51a9
--- a/main.cpp Fri Aug 31 16:58:32 2018 +0000 +++ b/main.cpp Sat Sep 08 22:17:15 2018 +0000 @@ -1,108 +1,22 @@ -#include "mbed.h" -AnalogIn front_G(PC_0); -AnalogIn front_C(PC_1); -AnalogIn front_D(PC_2); - -AnalogIn analog_left(A0); -AnalogIn analog_right(A1); -AnalogIn analog_front(A2); - -//DigitalOut enable_right(D0); -//DigitalOut forward_right(PA_10,0); -//DigitalOut backward_right(PA_9,0); - -//DigitalOut backward_left(PA_10,0); -//DigitalOut forward_left(PB_3,0); -//DigitalOut enable_left(D5); - -PwmOut pwm_right(PB_4); -PwmOut pwm_left(PB_5); - -int on_off = 0 ; -InterruptIn button(USER_BUTTON); - -DigitalOut led(LED1); - -void pressed() -{ - if (on_off == 0) { - on_off = 1 ; - } else { - on_off = 0; - } -} +#include "stateMachines.h" int main() { - float front_meas; - float left_meas; - float right_meas; - button.fall(&pressed); - - pwm_right.period_us(500); - pwm_left.period_us(500); - pwm_right.pulsewidth_us(0); - pwm_left.pulsewidth_us(0); - - // backward_right.write(0);//ok - // forward_right.write(1);//ko - - // forward_left.write(1); //ok - // backward_left.write(0); //ok - - while(1) { - /* - if (on_off == 1 ) { - led = 1; - - front_meas = analog_front.read(); - left_meas = analog_left.read(); - right_meas = analog_right.read(); +murs_init(); +obstacle_init(); +section_init(); +throttle_init(); - if (front_meas > 0.5) { - if (left_meas > right_meas) { - backward_right.write(0);//ok - forward_right.write(1);//ko - forward_left.write(0); //ok - backward_left.write(1); //ok - } else { - backward_right.write(1);//ok - forward_right.write(0);//ko - forward_left.write(1); //ok - backward_left.write(0); //ok - } - } else { - if(left_meas < 0.5) { - forward_left.write(1); //ok - backward_left.write(0); //ok - } else { - forward_left.write(0); //ok - backward_left.write(1); //ok - } - if(right_meas > 0.5) { - forward_right.write(0); //ok - backward_right.write(1); //ok - } else { - forward_right.write(1); //ok - backward_right.write(0); //ok - } - } - pwm_right.pulsewidth_us(200); - pwm_left.pulsewidth_us(200); - - - } else { - led = 0; - pwm_right.pulsewidth_us(0); - pwm_left.pulsewidth_us(0); - }*/ - wait(0.2); // 200 ms - + while (1) { + murs_update(); + obstacle_update(); + section_update(); + throttle_update(); + + murs_output(); + obstacle_output(); + section_output(); + throttle_output(); } -} - - - - - +} \ No newline at end of file