Diff: main.cpp

Revision:

1:abed67ad1d03

Parent:

0:3d0394820179

Child:

8:1d8c3ca5e508

--- a/main.cpp	Wed Aug 22 16:12:16 2018 +0000
+++ b/main.cpp	Wed Aug 22 16:15:52 2018 +0000
@@ -1,24 +1,108 @@
 #include "mbed.h"
- 
-AnalogIn analog_value(A0);
- 
+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);
 
-int main() {
-    float meas;
-    
-    printf("\nAnalogIn example\n");
-    
-    while(1) {
-        meas = analog_value.read(); // Converts and read the analog input value (value from 0.0 to 1.0)
-        meas = meas * 3300; // Change the value to be in the 0 to 3300 range
-        printf("measure = %.0f mV\n", meas);
-        if (meas > 2000) { // If the value is greater than 2V then switch the LED on
-          led = 1;
-        }
-        else {
-          led = 0;
-        }
-        wait(0.2); // 200 ms
+void pressed()
+{
+    if (on_off == 0) {
+        on_off = 1 ;
+    } else {
+        on_off = 0;
     }
 }
+
+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();
+
+            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
+
+    }
+}
+
+
+
+
+